I know this is old, but I want to add my 2 cents.
When i picked up my brand new cargo trailer (for a conversion) i asked a lot of questions to one of the employees working in the shop, and I told him my plans, and he warned against me removing the original wood paneling, which was 1/2" plywood. He told me I'd have a hell of a time removing it and reinstalling after insulation. To try and gain 1" of interior space was a lot of work, and the worst part is the stainless screws used are torqued on, and removal and reinstalling them would take a lot of the structural integrity out of the walls.
I confirmed this by trying to remove 1 panel and many of the screws would snap if I tried to loosen, they were all tightened right where they needed to be.
The 1" space between the inside of the skin, and the plywood makes for a great air gap that will help with condensation and moisture problems.
Overall I saved a day or more of BS by leaving the plywood up and going over it. It also gave me a solid place to screw foam and paneling and cabinets to later. Since under the walls, I have a solid layer of plywood throughout the whole camper. Which means I can snuggly secure anything I want, anywhere in the trailer.