The rating of the roof bars is basically for 'dynamic' loading, i.e. driving down the road and not for static loading when camped up and stationary.
Note I said good flat top bars and they will cope with the shear load.
Now putting a roof tent on top of a roof rack you are putting extra weight and expense up top. Expedition roof racks are mainly of a basket design which will present a trip hazard entering/exiting the tent if a hard shell is fitted or need modifying for a folding tent by removing part of the luggage rail or alternatively position tent on top of luggage rail, raising centre of gravity even further.
A flat roofrack is best design for a rooftent. The closer the roofrack is to the roof the better as keeps COG lower, however may mean lifting rack and tent on/off as a complete unit.
Now if concerned about shear loads on roofbar feet then need some bars where the feet are an integral part of the roofbar. Lowest flat top bar with integral feet include the Nakatanenga Cargobear bars and the Safari Equip twin roof bars.
Brendan