Cut your PVC to the desired length. Drill a hole large enough for the threads to go through without cracking the PVC and directly across from that hole, drill one large enough for the head of the screw to pass and screw the PVC to the 2x4 frame from the inside of the pipe. I would do this in 2 locations about 12" apart to keep the pipes stable. Then all you have to do is find a way to mount the entire assembly to your vehicle.
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"born to fish, forced to work"