DH and I had a 1985 VW T25 hightop which we bought on a whim (very out of character), sold both our cars, packed in our jobs and went travelling in around Europe for 2 months. It was awesome.
On our return the van was our only vehicle which meant we drove less because it was slowww, but it was a very handy when we needed it - and we carried on camping.
When DS1 came along we constructed a cage in the roof bed so he couldn’t escape and he slept up there. When DS2 arrived we gave in and bought an awning - but that really spoiled the “turn up and we’re camping” thing which was part of what we liked so much about the van, so we had to change.
7 years ago we bought a sensible car and a 6 berth motorhome - and sold the VW (after 8 years of owning it) for the same ££ as we paid for it. I cried when it went 
However, the big van is what we need - it’s fully loaded and ready to go apart from clothes and food. The kids sleep in the overcab bed and we have a massive bed up the back, plus there’s a table in the middle we can leave up. There’s a toilet & shower. We have a solar panel and gas so we can do self-sufficient.
We camp on a mixture of campsites and temporary holiday sites (Camping & caravan club - ~£10/night) in this country, but when abroad we often wild camp (if allowed) or use Aires in towns. This was the same in our old van.
In France the attitude to motor homes is very different to the one presented here. They often provide overnight parking spaces for vans as they recognise that we do bring money into the economy.
Certainly when we are camping we shop, eat, drink, etc in the local area. The money we save by vanning rather than hotel/b&b is money we spend outside (if that makes sense?).
As for being stuck on site in a van - it’s true, we rarely move the van once we are parked, but that means we walk or cycle more, use public transport, choose sites where there’s stuff to do near by, or just relax around the campsite while kids roam around - depends how we are feeling. It’s never been an issue.
Our van cost us £15,000 7 years ago and it’s 18 years old. We bought it before summer with the view that we could sell it again after summer (if we didn’t like it) and have lost less money on it than it would have cost to hire one. We didn’t sell it. We are just on our way home in it now after 5 nights away in Dorset. It’s been lush.
If you’re not sure you’ll use it enough (we don’t), consider lending it out - either officially renting it, or lending it to friends and family. We do that and it’s good for it to be used.
In summary, you’ll never go back!!