So, since your already live in a van, I'll assume you already know RVs are less stealthy. Sounds like you're looking at the Toyota based rigs. I've thought about those a bit too. They're pretty popular these days so they tend to come with a higher price tag even though they're pretty old. Most were made in the 80s so make sure you're ready to care for an older vehicle. Even though the 22r engine has a reputation for being super reliable the other parts of the RV are getting on 25 to 40 years old depending on what you get. Also consider small busses or travel trailers. I've got a26 ft. Bus and I'm pretty happy with it and I share it with my partner and 70lb dog. There are other small RVs out there too. Look into Chinooks, broughams, mini Winnies, or the Winnebago le sharo for some other options. Finding a small RV with good gas mileage is tricky but worth it. Good luck to you!