I kitted out my Honda Element for sleeping in. People live in them. There’s room for a queen bed. You put your stuff in bins under the platform.
GP’s van is bigger than my Element, and the back is taller, so, yes, plenty of room for two. However, I try to camp at a picnic table and use a picnic table cover. That way, I can keep stuff like my stove, cooler, grab-and-go camping bin, kitchen, lantern, on the picnic table, and most of the time it stays dry. If in critter territory, I used the front seats for bins/cooler. Being able to put stuff on the picnic table really helped as far as feeling spacious. I don’t know if GP and BL had figured this out.
If I didn’t have a picnic table, I think I’d pitch a tarp low over my bins, just so I didn’t have all that stuff in the car.
I’ve slept at dispersed sites, and only once did they not have a picnic table.
Campers tip for 62+. Forget the dispersed sites! Get thee a lifetime National Parks Senior Pass, and you can stay at any Federal campground for half price. That’s TVA, BLM, National Forest, National Park, National Wildlife Refuge, National Seashore, National Monument! You also get into National Parks for free with whoever is in your car. Recently, I stayed at Dinosaur National Monument for $6 per night, with shower. Why would you camp dispersed with no bathroom, no picnic table, no host keeping troublemakers at bay….?
So, you young ‘uns, get your life to fast forward to 62.