When I'm in the van, I'm lolling around on the bed. Although I am contemplating a small table set up for the times when working on a table inside would be handy. I carry a cube igloo cooler for storage, which doubles as an extra outdoor seat, and makes an adequate backless chair.
For lounging around outside I carry a Timber Ridge zero-gravity chair. It's a bit bulky, and there's not enough room to use it inside the van, but when I'm parked, it's outside. It's the most comfortable chair I have EVER owned, of any kind, and I plan to never be without one again. I don't care that it looked, um, non-Martha Stewart in my aparment's living room.