Many use that doublestick foam tape with aluminum angle and find it to be sufficient. While I admit that stuff is surprisingly strong in some applications, I wasn't willing to bet my panels on that.
What I did instead was fit cleats. I used PVC trimboard ('Azek') because it doesn't rot and won't need painting. I glued the strips of 1x4 plastic board in place using E-6000 (very good solvent based adhesive), weighed them down to dry, then caulked around the perimeter with acrylic caulk to ensure no water would get under to work at the adhesive. Then drilled and mounted my brackets into the cleats, taking care not to puncture the fiberglass, and also sealing the screw holes with more caulk.
Pictures here.
https://vanlivingforum.com/Thread-TMG-s-Van-Thread-Picture-heavy?pid=138049#pid138049