I wouldn’t over think it. You want a way to bring food, water and a few creature comforts. You want hot food? Then bring a little grill. A cooler or if you don’t mind the cost, a fridge to keep stuff cold. Any old tent works. A bed tent means you have to unload the bed to use it. A rooftop is great but expensive.
As for your bikes look for a rack that keeps the out of the way of your gear and as far away from the ground as you can, maybe go with a known bike rack brand instead of an Amazon special so you get something quality.
Are you going to wheel your truck? You can play on some trails there with what you have. Look for some offroad how to drive videos instead of throwing money at the truck. Have a fullsize spare or a tire patch kit and a way to air them up and down. Make sure you have a jack that can get a tire off the ground to change it. And bring a tow rope Incase you need to get a pull out.
