We had a VW van, but the engine caught fire and we havent had it repaired yet. We (dh and I) used to sleep in the van and the kids slept in tents. Then we bought an air mattress and that changed everything. I love tent camping, but the cold damp ground got to my back and legs. With the air mattress I can have the best of both worlds. Dh and I have our own tent and the kids have their own tent(s).
We usually camp locally, in our own San Gabriel mountains, but our favorite place is coastal beach camping near San Simeon CA. The home of the elephant seals. We have found many other sites as well near that area that we like. If we are not up to the long drive then it is local, if time and $$$ permits then it is San Simeon Hands Down!