A tent system may include a base system adapted to mount to a roof of a vehicle, an inflatable tent frame, and a canopy. The base system may include a rigid platform and an air delivery mechanism integrated into the base system, the air delivery mechanism may have an air port adapted to receive pressurized air. The tent system may include an inflatable tent frame including an inflatable tube coupled with the base system, the inflatable tube having an air inlet coupled with the air delivery mechanism, the air inlet receiving the pressurized air from the air delivery mechanism into the inflatable tube, the inflatable tube adapted to support a tent canopy when the inflatable tube is inflated using the pressurized air. The tent canopy may be attached to the base.