* If you're not ready to give up your Yaris as the vehicle-of-choice quite yet, how about getting a hatchback tent? It would enable you to use the Yaris as the base of operations, holding most of your gear without unpacking, and would also be handy to get into if weather turns very rough (I hated T-storms while tent camping, yet not so much if inside my squareback TTT, or even inside my 2009 Chevy HHR Panel).
* I built my trailer to be used with my HHR or my wife's Cobalt coupe, but it turned out to be much too heavy for those to tow (Chevy puts a 1000-lb towing limit on them), and the wife actually refused to camp in it (she felt too enclosed, preferring a Coleman tent). So, I thought of a compromise for her to use...a truck-bed tent (for her GMC Sierra pickup, or a hatchback-tent for the HHR, just to get her off the ground if needed.
She would camp with her friends, and would invariably come home with a saturated interior in the tent. I found the "Napier Sportz Dome-To-Go Hatchback Tent", and was about to buy it, when she retired from camping altogether, and my trailer was perfect for my camping needs, so I never bought it.
* If I had bought it, it would've worked fine with the HHR. I had spent many a night sleeping in it (no tent), with just a sleeping bag and space heater, when I would be trapped at work (120 mile round-trip from home) during ice-storms.
I was usually working 16+ hours a day during those times, making the long trip home not feasible. * Anyway, the hatchback tent is available at Amazon or many other vendors, usually for $290. It might be worth trying while you build a suitable trailer/find a heavier-duty tow vehicle, if you might want to camp immediately.

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