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I've done it during winter with the car turned off, the two bodies are certainly enough to fog the car up and keep you warm. When you're laying there afterwards relaxing it the temperature suddenly drops and you'll get cold quickly so bring a blanket.
I've tried it in a car park, in a side street, outside a house on a residential street, in the carpark of a national park a few times, all in a medium-sized sedan in the back seat. It's not a bed, but if you stop comparing it to a bed and just think of it as a car, and position yourselves accordingly, there's nothing wrong with it. Bring a pillow to rest against the door in the back seat and you'll be fine.
I did get very, very paranoid laying there afterwards, though. It's pitch black outside and all the windows are fogged up, and every little sound seems to be amplified. I found it hard to relax sometimes, thinking there was something out there, but obviously that's just be being super paranoid.
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