I have had many vans, motor homes, and truck campers through the years. A well kitted van means you are hauling the bikes in a trailer, which I despise pulling a trailer. Been riding and camping more than 40 years. I prefer the keep it simple approach. Two bikes, sleeping bags, one large cooler, small table, coleman stove and an easy up. I carry one 5 gallon water bottle (For bathing and drinking) Bag each for riding gear and clothes. One small tool box, and bike fuel.
I prefer a well insulated van. (So buy a conversion van and gut out the bed and chairs) I haul both bikes inside. To sleep I unload the bikes and just roll the bags on the floor. Two people have plenty of room, even better for one as you can leave the bike inside.
If you need more electricity than 12 volts, buy a motorhome. I camp more than 30 days every year this way.