Insulation and/or reflectix/bubble wrap and then wall finishing and the floor done will definitely cut down on the noise. BUT, remember a full size van is NOT going to ever sound (or feel) like you're riding in a Cadillac. It just ain't!
Get the steering looked at and make it a priority...first of all, you need safety on the road and loose steering can be dangerous. It will also cause premature tire wear.
I use a center console unit in the van so I have cup holders and all purpose (read 'all that shit') storage handy (auto dept of W/M).
Buy your firewood at some place just outside the campground rather than from the campground itself. Do NOT transport firewood from home if it's in a different firewood region (stop the spread of tree killers).
You do need to learn to relax...leaving a campground at 5:30 AM is pure heresy!!
I used a couple of pool noodles slit and cut back to 3/4 round for the head bumpers on the original roof where the high top is open. I used pipe wrap (smaller diameter and pre-split) for along the side walls where the original roof still exists. Both have saved my head numerous times!
I opted out of putting in running boards. They have too shallow a step and even the non skid stuff doesn't keep them from being slippery when wet. You can really hurt yourself skidding off those things getting out of the van. I carry a Rubbermaid step stool that gets placed outside my side door when I'm camped. Just make sure that it's still in place in the morning BEFORE you step down....mine was 4 feet away this morning because the wind last night chased it across the asphalt...
Glad you had a great time! Don't worry, we all forget something at least a couple of times.