Very similar layout, in a smaller Sprinter. the "kitchen" would be a sink cabinet near the slider door. dog crates bw wheel wells with a bed on top, more dog crates by the driver side window. bench lounger on top of crates.
In fact, some fall in love with the great outdoors so much that sometimes such a retreat is later extended into a lifestyle. Such is the case for filmmaker Zach Both, who converted an empty cargo van into a one-of-a-kind camping van/work studio.