You could spend a lot of cash putting a tent on the hard lid but I reckon you'll end up finding it completely annoying. It will get in the way of using your ute for every day utey stuff. If you do use the car as a daily driver, a roof tent is a completely annoying accessory. It gets in the way in countless situations and causes you to use extra fuel ALL the time. If you ever camp in the same spot for more than a night, but want to do 4wding each day, a roof tent on the car is completely annoying. You have to set it up and pull it down every day and you risk losing your camp spot, plus you've got a virtual load of bricks up high on the car which sucks. You've set up and then want to drive to a pub or a sunset lookout, pack it up, then unpack it in the dark when you get back. Awesome. Removing and reinstalling a roof tent on your car after a trip gets old very quickly and is completely annoying, as is finding somewhere to store it when it's not on the car. They're mostly heavy bulky buggers.
Something that's not completely annoying is a light weight off road trailer with the roof tent that used to be on the car, now on the trailer. All the annoying things disappear and you have room for a lot of extra gear that you only have to drag around when you're actually going out bush. A weekend overnighter? Throw a swag or similar in the car, leave the trailer at home, and you're done. Variety is the spice of life and it's horses for courses really. Rather than have a single setup that causes different compromises with daily driving, touring, 4wding and in place camping, i've found it far better to tailor the gear to suit the trip. I hate heavy, my trailer is 400kgs loaded and will follow me just about anywhere, but I regularly just swag it...well stretcher tent it, I'm not a swag fan either. I love the tent on the trailer, it's awesome. It's off the ground and quicker to setup than any other option and I can unhitch it to use the car. I ended up hating the tent when it was on the car.