Motorcycle (and backpacking) camper here, so right there are my credentials for being able to shove a camping loadout into a vehicle.
For $3000, you can buy an entire high end backpacking setup, and also be able to use it without the presence of your stupid truck. And when I say entire, I mean it: A nice free standing tent you could probably pitch inside the truck bed if you had some creativity and really wanted to, a premium cot or inflatable pad, very competent sleeping bag, backpack, stove, water filter, hiking poles, a chair, a nice knife, the whole lot.
With change left over. I just added up the full list prices of everything in my core loadout and you could buy it all (including the backpack, which you don't need for truck camping) for $1418.82.
So just do that instead.