I set up a sleeping platform in the cab of my old dual cab Hilux. It can be done, but if you're taller than 180cm I wouldn't bother.
With the rear seat removed, I built a foldable contraption that sat in the back on the passenger side. When the front passenger seat was fully reclined, it folded out to span the distance from the dashboard to the rear of the cab (above the reclined front passenger seat).
It worked well enough for me so if you're closer to 170cm then it would be even better.
I actually still have this platform sitting in my shed if anyone has a N70 dual cab Hilux and is interested.
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