Engineering wise there is a "dynamic" limit and a "static" limit.
The dynamic limit is the weight that the vehicle manuf will allow for in his design that can be carried on the roof before handling is adversely affected by the raised C of G. This figure can be suprisingly low EG 100 or 130 Kg's has been mentioned already.
The static limit is considered the amount of weight the roof can support without damage/collapse and is rarely specified by a Manuf.
Obviously there are so many variables in each scenario that it almost becomes a best guess by the relevant engineers because they have no control over the owners other mods (esp lifts) or how they pack the car.
Therefore Vehicle Manufacturers stated limits are normally considered dynamic IE any GQ/GU will carry a poo poo load on the roof BUT at the risk of falling over at the first corner
Roof Rack Manuf will normally state a static load but add a proviso not to exceed the manuf load.
Bottom line is that it is all a case of CYA or someone will apply a stupid interpretation, do an 8 inch lift, pack 5 jerries, two spares and a toolbox on the rack, do 110 KPH down the road and after smearing themselves and their truck over the countryside at the first corner will then attempt to sue you're rrse.
A roof top tent, rack and bit of other light kit is fine "dynamically" as you will be under the Manuf roof limit when driving and when parked up assuming a quality roof rack of say 4 mounts per side or full gutter rail then a couple of average adults should also be quite OK.
I certainly have yet to see the gutters collapse or a Patrol on it 's side in a camping ground when the occupants have moved around in a roof topper





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