Just wanted to share a recent experience, not with propane, but with CO2, thankfully. I had my beer keg's CO2 tank refilled, and I brought it home. It was warmer indoors than the store where it was (over)filled. A few hours later -- BOOM, the relief valve opened. The entire basement was filled with a dense suffocating fog within just a few seconds. The tank had actually done a little rocketeering around my basement since it wasn't strapped down yet. Luckily, I was able to find it quickly and get it outside. Once the relief valve opens, it empties the entire tank. The only damage was the gas water heater's pilot light had been snuffed out.
But can you imagine an event like that inside a moving vehicle? with a flammable gas? It scares the hell out of me.
I've seen some van builds that put the sealed box, vented outside, and I think it's a great idea that could save your life.