Showing off the original kitchen and new pantry/counter top addition in a campground this weekend. I have an '18 4Runner, and I've added footman tie down points on the OEM rear sliding tray so that the whole works can slide out, then the kitchen and pantry extend out from there. It all works, but the cantilever is pretty extreme at that point so I added a folding and extendable RV table leg under the stove extension just for some peace of mind. The leg clears the underside of the kitchen when folded up, so it all can be slid back in and tucked away.
PS: the jerry can in the photo actually opens up into a bar. It was a gift and is totally ridiculous, but also pretty cool. ;-)