I tried tin tent camping for the same no money reason many years ago and very quickly gave it up as the vehicles I used were phenomenally uncomfortable to sleep in. In the south of Europe (mainly where I headed for) the early sun would often heat the interior beyond the point of comfort and ruin what little sleep I got. I very quickly changed to sleeping outside the car.
I last did it a couple of years ago for one night when I couldn't be bothered to find a hotel and it reminded me of why I stopped and bought a tent. A small (diesel) van would probably be your best bet but make sure you can stretch out full length. I wouldn't do it out of choice in any car I can think of.
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