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How about the Honda tent made for the CRV
Tent
Honda Part No.: 08Z04-SCV-110B
https://www.hondapartsnow.com/genuine/honda~hatch~tent~08z04-scv-110b.html?Make=Honda&Model=CR-V&Year=2019&Submodel=&Filter=(bt=3%2c3497;et=2%2c4)

 

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Not made for this generation CRV

I haven't personally tried it but it is listed as an accessory for the 2020 CRV.

Build and Price Result

automobiles.honda.com