I have a Tacoma and live in a desert climate. I'm really interested in taking this thing out into the desert and doing some solo truck camping.

What is the best way to go about doing this?

Should I just grab one of those tents that go into the bed of your truck?

I think those tents mounted on bedracks are cool but given that I've never done this before, I don't want to dive into something so expensive so quickly.

Also, I've never even camped before. Should I bring anything for security?

Currently have some Nitto Trail Grapplers on it, as well as some Bilstein 5100's up front and 1.25" wheel spacers all around. Truck has around 70k miles on it and I just got it serviced.

Looking for any and all input/experiences with people doing stuff like this.