I can't recommend exploring Maui in Richard's setup enough! You get a Toyota 4Runner AND a rooftop tent for about what it costs to rent an SUV from a national brand. Richard was kind, generous, and quite the character to spend some time with. He was fantastic. He knows a lot about the island and we learned a lot from him. He picked us up at the airport, and after bringing the vehicle back on our day of departure he offered to bring us anywhere we needed to go.
We stayed in a condo with friends for half the trip and then camped at a Hipcamp spot up in the hills hosted by Alika. I highly recommend looking her up. Her property is in a wonderful spot and she was very accommodating as well. One piece of advice on camping - if you're camping at higher altitudes bring warm clothes! We did and were fine, but just know that it might get down to around 40F at night. The 4Runner was very clean and ran like a champ. We circled the entire island with it and had zero issues. Can't wait to return!