Defiantly looks like a fun plan... A good friend loves their set up they have been running and adapting for about 6 years now. We have also given it some serious thought.... So if you dont mind some ideas... Seeing you already have tent camping gear and experience as did they.
They have kept everything modular. They have totes set up with their gear for different trips. They have folding cots that work either in the van or tent, with the sleeping gear, outdoor kitchen stuff, even a porta-potty tote. Depending on the trip plans just grab the needed totes. Wired in lights and inverter with solar panels. they have a bunch of tie downs to secure stuff... Stack the needed totes and coolers, cargo net over to secure. THEN... load 4wheeler, or 2 duel sport bikes... and can hang Kayaks too. They also have a camper that adds a different dimension... they've done several cross country trips leaving the camper as a base camp and then jump in, take the bikes to explore BLM areas with shorter trip camping in the van.
Just food for thought.
Good idea.
I tried to talk DH into the folding cot idea. (More versatile vs building a bench bed.) But given his height (6'4") he doesn't fit well on cots.
But the tote idea is already shaping up. We already store our gear in totes... and are designing around totes under the beds.