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Easy answer is you don't, but in actuality you'll need cross bars and a roof box for the easiest solution. But to be honest that's a lot of people and items to put in a 110, these aren't that big on the inside
Agree with previous comments, that is a lot of people and dogs. Short trip, maybe. Long trip? Could get old fast. Best solution is definitely a roof rack, or the cross bars/cargo box option. But, if you have roof rails, and you don’t put too much weight up there you can add these eyelets that attach to the rails. You mention soft-sided bags, which would be safer and less chance of buggering up the roof paint and finish than hard-sided totes, but beware of the panoramic roof, if you have one, and keep the load to a minimum and use straps carefully. Tight enough to secure the load from loosening, but not so tight that you damage the sliding roof glass.