Found a project description for a DIY folding table for a van door. It is from the REI website. Nice looking, not too hard to build. Of course you can always put your own spin on it to add more or different features that you like.
https://www.rei.com/blog/camp/diy-van-life-build-your-own-kitchen-and-storage
The REI blog that the table is featured on also has a lot of recipes for camping.
https://www.rei.com/blog/camp/diy-van-life-build-your-own-kitchen-and-storage
The REI blog that the table is featured on also has a lot of recipes for camping.