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Well, it doesn't involve sleeping in your car, unless you just really want to. It simply involves packing all your camping equipment into your vehicle and driving right up to your campsite. You can even use your vehicle for storage or an extra room, and have it available for inclement weather or those little side trips to the local store, tourist spot, or hospital (God forbid!).
My car/minisuv (Element)is packed with my running and skimpy camping gear. Anytime I feel like it there I am. Good to sleep in also as all seats become 2 beds. Good for any weather surprises.
It sounds like you are prepared!