The MBTA in Boston has a whole fleet of these Ford-based 4-wheel vans for disabled point-to-point travel. There are double doors on the right rear with a wheelchair lift.
They're fairly short, they look very easy to drive, and they'll fit in a normal parking space.
If I was building a "stealth" van camper for myself, I'd totally look at one, assuming I could find one with reasonable miles that wasn't about to rust in half. (I'd have better luck finding a unicorn that farts rainbows.)