I don't have the time to read all the posts, but here are my ideas:
Does your friend's truck have a hitch on it? If so, rent a car dolly and drag the van home. They cost about $40 here in the expensive West. I've done it, and it's no big deal -- better than dragging it back with all four wheels on the ground.
If the two of you are driving separately, don't get separated. My neighbor had to do something like this at night, and that's when all cars and trucks look alike. She bought two of those mylar streamer patio things
[ https://gloriouscreations.net/wp-co...5d934ae4f6238bb5d7.image_.369x550-300x448.jpg ] and Gorilla-taped one on the back of each vehicle, like a horse's tail -- had to trim the length. They flutter and catch the headlights of the following car, and when her daughter pulled off the road, she saw her do it.