Not sure if you've sorted this already.
We've got a camper, but take a double swag for short stays. We have a 2 year old, and my partner is pregnant, so she can't help with the camper and to be honest, it's a pain in the ass to do solo.
Swag is eleventy million times easier. I leave sleeping bag in there, it gets thrown on the roof rack so size isn't an issue. Will likely just get another swag when our second bundle of trouble comes along for the quicker stays. Plus, when I head away solo, I can just take one of the swags.
Gazebo takes 2 seconds to setup. Job done. I hate the idea of rooftop tents - if you want to go get firewood or anything you have to packup. And if you need to leave in a hurry, your kinda stuffed unless your happy for it to all fall off somewhere up the road.