It ultimately depends on the weather conditions and personal preference.
If you’d rather sleep in your car than a tent, that is definitely okay to do. I typically sleep in my van when camping. It ultimately depends on the weather conditions and personal preference. Depending on your vehicle, it can also be hard to fit all of your car camping essentials inside and have enough room to sleep comfortably. That means you’ll have to be shuffling your stuff from the back to the front or even storing some of your stuff outside at night. If you do that, make sure to store your food inside your vehicle.