"Camping"?? In a van?? Jeeze---how concepts --and languages--- change with time and place...
   I still can't think of kipping in a vehicle, or even a trailer--as "camping." Perhaps the word "boondocking" is the key, being a word which refers specifically to living in a vehicle? [My ignorance is genuine here; maybe somebody can set me right.]
For the record, the cross I had to bear was being compelled by my mates , if we pitched camp too far from a handy stream,was to sleep with my steaming feet OUTSIDE THE TENT!