When I had 2003 Honda CRV, I was able to put a cot inside. Had to remove back seat and slide the front seat forward.
The cot type on the picture attached was very convenient. You can lift up the end to reach your bag stuffed under the cot.
Another benefit of CRV, the rear hutch glass opens and you can use a key fob to open it to get fresh air. I missed my CRV.