I set up the bed in the back of my Grand Caravan yesterday, parked it in front of my porch on one of the few level spots in our parking area, put up the window coverings and took a nap. Or tried to. I live right above a busy state highway branch and as usual, there was a lot of traffic. Our apartment is exceedingly well insulated and stuccoed so it's pretty noiseless inside, so I'm not used to the traffic noise. I know I'd be able to sleep through wind or rain or a noisy river or wind in the trees (ahh), traffic, no. At least not until I get used to it if I have to.
Also, the tri-fold Milliard 4" mattress is harder than my bed so I had trouble with that too. I got two of those cheap foam toppers from Walmart, I'm going to cut them down to 31" wide and put both of them on top with a fitted sheet over everything.
Living in the back of a minivan would not be easy for me. I have arthritis in my lower back and both hips and it was a bit difficult crawling around to do things. A van I could stand up in would be so much easier and if I ever decide to go full time, or even a lot of the time, I'll definitely look into getting one. About 3 weeks before my car died and I bought the Grand Caravan there was a perfect van for sale on Craigslist. A cargo van tall enough to stand in with AWD and a whatchamacallit already set up in back to plug tools into. I asked him a question about it and told him I was interested. Got a text from him an hour later, it sold. I don't remember if it was a Chevy or something else but it looked to be in really good shape and had about 80k miles on it if I remember right. $3,500. I've been checking Craigslist ever since and vans are going very quickly!