Have you heard of expedition portal? a google using that site name and tarp should turn up a month or 10 of reading.
For something like my wrangler I have a simple lightweight tarp and I am halfway trying to figure out a decent way to set up some tent poles to support the lightweight tarp without needing stakes and guylines and what not. The arb batwing does this, but they actually cost money. There are other versions as well. I am just using remanants of an old cheap nylon tent and playing around right now. A tent pole flexed and tied to the jeeps rollbar is what I will wind up with probably. And since this is small it is something where the vehicle would move as the sun moved, I drive around with the driver's door open slowly backing up sometimes, I consider these little tarps to be sturdy enough for such things if you are away of your surroundings. IF you are not aware of your surroundings, you soon might be. currently no creased doors and front fenders from poor backing up skills.
For something bigger I cheat and just bring the pop up 10x10 canopy. I can set it up myself but it takes longer. Used for when I am actually going to be someplace for a bit.
In one thread on this site I think someone was using a kayak paddle or something as a spring stick to keep tension in the guy lines, helped during light winds and what not.
I really like not having stakes and guy lines everywhere, seems like someone just has to trip on stuff and hurt themselves or get to redo the lines and tarp.
I readily admit I am mostly fiddling with what I have and have not spent real money on a quality setup.
For a larger vehicle I like an actual self supporting roll out awning similar to what a camper has. For something like the jeep, would want something smaller and lighter.