My Westy had a similar setup to what Mike described. There were four built in brackets similar to the clips that hold closet rods in place. There were two on each side and the cot rods fit right in. Never had any complaints from my daughter.
89 Ford 2WD penthouse
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Current van: 2002 Ford E350 extended body camper with Colorado Camper Van pop top and Agile Offroad 4WD conversion.