For us we use our Mazda Bongo Camper.....and we tend to....if we are 2 up keep the raising roof down in a stealth mode. We do have a portaloo but rarely use it. The Bongo also comes in a tin top flat roof style too which never gets rumbled as a camper. A neighbour of mine has a Berlingo car version.....with an Amdro Boot Jump...which is a slide in camper conversion with cooker sink and bed......
http://www.amdro.co.uk/facebook-gallery.php
Our Mazda is fitted with a 4 bike carrier on the rear door....plus the kitchen with compressor fridge(like your home one but on 12v) makes cycling and trips out great, and we tend to go out Saturday, cycle the day,stay out and venture home on Sunday...... with cold beer and dairy in the fridge....
I also have now gone to the extra luxury...and have a 100w solar panel...which pumps 6 amps into the leisure battery and powers the fridge and chargers etc .....for free....
White house campers in Japan, convert many ordinary cars,even the Kei cars like WagonR..... they did/do mid and large Honda etc vehicles....but never have done the CRV....
They did do a StepWagon.... like the Bongo....called a StepWagon FieldDeck....
Hope you find a solution.... and there are plenty of ideas on here....
There are a few rear hatch tents which can be used too on many vehicles..... Pakashack is one Caranex is another....wont be stealth but will give a bit extra room...