Definitely Add Something
I was advised, by my dlr, that standing directly on the roof is a bad thing.
So now I'm spoiled-- a piece of slightly curved "trailer roof" from the junkyard, with styrofoam backing still on it, fits the TM almost perfectly. It's also very light for tossing up there moving around from a ladder beside the TM, before you get on it. (It's also very big, lots of room for me and tools and complete coverage from the ladder to anywhere.)
But the 1/4" plywood also sounds very good to me. Even a square of thin masonite would spread the load nicely. But don't go any thicker, because it won't bend and spread the load as you want it to. There's no need for more strength, because the TM roof completely underlies your protection piece (supporting it).
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TM='06 2619 w/5K axle, 15" Maxxis "E" tires. Plumbing protector. 630 watts solar. 450AH LiFePO4 batteries, 3500 watt inverter. CR-1110 E-F/S fridge (compressor).
TV = 2007 4runner sport, with a 36 volt "power boost".
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