Sometimes a life change which sounds great in theory doesn't work out in real life. Van life isn't for everybody, as some people discover only after spending large amounts of money.
I would encourage everyone thinking of adopting the van life to first try it out inexpensively for a few weeks before spending a lot of money on a rig and equpment.
So if traveling in your current vehicle and sleeping in a tent isn't appealing, you can rent a cargo van and sleep in it while traveling for a while. When renting a cargo van for an experimental trip, the only extra equipment needed is a few items such as a thermarest, sleeping bag, luggable loo, bucket, an inexpensive camping stove, a cheap cooler, etc.