Yes, you can sleep comfortably in a 4Runner. The roomy interior and comfortable seats make it an ideal vehicle for camping or extended road trips. The 4Runner offers a large cargo area, perfect for stowing your items and supplies. If necessary, the backseats can be folded to create more sleeping areas. Moreover, with the correct additions, such as airbeds or bedclothes, you can have a snug spot to take respite while traveling.