Here's another look at how we pack our 4WD. There is a another post here for a different perspective.
It just takes a bit of thought to make things a lot easier and in developing a pattern of packing that works for you makes family camping from a car a lot more fun.
There are many ways to pack a vehicle for a camping trip, each method working to a more or less degree. In this video Dion shows how they pack their old Pajero, but it will probably change next time they set out.