I found a YouTube vid of a couple who use their van to camp in Florida when they go on kayak fishing trips. They shower and get fresh water at facilities right on the beach and at night sleep in their van at Walmart. I know that some Walmarts don't allow overnight camping, that's not the reason I'm posting this. Their setup is really simple but pretty comfortable looking. Seems they have plenty of room to stretch out. My only concern if it was me would be I'd need a more solid mattress than an air mattress. Maybe it'll help someone starting out with a similar setup.
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