Thanks for the great ideas and information -- if anyone else has any ideas, feel free to toss them out there! I've been reading this site for a couple of months before registering and posting, as I wanted to learn as much as I could by reading before I started asking questions. I’ve taken several notes, used some ideas already, and modified several others with my own. This site truly is awesome, unique, and packed full great info, thanks to all!
I think I'm going to avoid using any fiberglass, as I've put that in houses before and that is nasty itchy stuff! I'm using Reflectix and Polyiso in my van. As for inside the doors maybe I'll use some styrofoam peanuts, staying clear of the moving parts of course. I will see about putting a sheet of ½” Polyiso on the doors. The back ones would be pretty easy; it’s the sliding door that gets tricky. Adding extra weight to the sliding door is a concern of course, as the last thing I want is something that will cause it to fail or jam up.
I still need to get a handle for the inside of the rear door, as it doesn't have one. I’m guessing a junkyard will probably have one; I’ll just have to call the dealer and get a crosscheck of part numbers and years so I’ll know what will work.
Being a standard cargo van there isn’t any paneling in it, but I view that as a good thing, as it’s basically a clean slate to build in. Now I have several great ideas to work from and a few of my own, including an interesting one I came up with last night, but I'm going to have to see how practical it is first...