Xterra Tent Can You Sleep In The Back Of A Jeep Liberty?

Can you sleep in the back of a Jeep Liberty? - xterra tent

I want a vehicle that can double as a supply of "renewable" for excursions. A caravan would be super good, but expensive. I'm in the market for a new car, but I need the rugged Xterra, or something huge. Freedom seems to fit right, but it would be nice to know whether fit an air mattress in the back of the seats among themselves.
Thank you for your time.