I wish it was feasible to convert Sprinter's OEM HVAC to run on auxiliary power. Unfortunately, it is not. It is easier to replace or supplement the existing system. This topic has been addressed multiple times on the Sprinter-source forum. If you want details on why it can't be done, do a search there.
Heat is easy and cheap: install a diesel heater plumbed into the fuel tank. Most come from the factory with an auxiliary tap, specifically for that purpose. Installation is a half day job for those who are mechanically inclined. I have a cheap Chinese diesel heater under the front passenger seat. It can maintain a 75F interior temperature when it is 0F outside. In my build, it is more effective than the OEM heat ducts, which are partially obstructed by furniture. Power and fuel consumption are so minimal that they are non issues.
Air conditioning is a bit harder. The biggest issue is power: when the engine isn't running, how will it be powered? There are several options for auxiliary AC if the use case involves being connected to shore power. A solution that works with boondocking is doable, albeit expensive. If you haven't already, I suggest installing a rooftop fan and see if that is an adequate solution. There is at least one person on the Sprinter-source forum who removed the OEM rooftop AC and installed an RV AC in the opening.