-- Last Updated: Feb-10-11 2:14 PM EST --
Or so I've read. Their Element might be another good candidate for you, though it gets lower mpg.
Nissan Cube might work, though it looks short. When I first saw one at the dealership, the sales guy said Nissan was considering making one in a cargo version, which would be better for sleeping in.
Ford Transit might do the trick, too.
The little boxy Scion was another one designed to allow sleeping in. However, I don't know if these are still being made.
Another possibility, though not a car, is a 4cyl 2WD compact pickup truck, if you can even find one anymore. My first truck was a Mazda B2000 and I got 32 mpg highway with it back east, 29 mpg when I moved to Colorado. Its EPA rating was for 27 mpg. A 6' to 7' bed is plenty for sleeping in, and a topper gives you a long roof for adequate crossbar spacing. Some toppers have rails that allows you to vary the crossbar spacing.
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