The Rubicon with the rooftop tent was an incredible value. We were able to spend evenings and mornings in places that would have been very difficult to access if we'd been lodged in one of the bigger cities.
Get your camping permits early! Spots on the island are extremely limited for designated rooftop campers, if you don't want to get creative. (Hints: If you want to camp in Sugu or Kawaikoi don't count on Google Maps to get you there. The roads/trails on Google Maps are straight-up incorrect. Also, when you can't find those two campgrounds, Koke'e State park has more space than you would think based on their 9 reservable spaces...)
The Kauai Rooftop Camper staff is great! Jeni was super helpful and very pleasant to work with. We would definitely rent from Jonathan again!