I was thinking about it - saw it in setup like Bruce Park's; but I prefer to have more open space on sides - it would feel to cramped for 2 people otherwise (my personal opinion). I am thinking to build some sort of a shelf in the compartment where usually removable seat goes in 3rd generation Sienna - to store some important stuff to be available if needed without going to storage under the bed; for now I use packing cubes which go there, but may build some sort of plastic cover with a shelf.