I love our van, but it's just me, DH and the huge daft Labrador. (And we also have a much newer one now, with a fixed island bed and separate toilet and shower)
We have taken our nieces and nephews away in it tho, however they were older.
You either like it or you don't. You've tried it and you don't. But don't let it put you off trying again.
It does get easier the more you go. You get into a better routine, find what works best for you re cooking and cleaning etc. Yes, it still needs to be done but its not a constant drudge. For example, One of us takes the dog for a toilet walk whilst stuff needs doing in the van which makes doing it much easier.
An awning or porch really are a must though. Our boots/shoes, outdoor gear, recycling, beer, wine, camping chairs etc are all kept in ours.
Stuff is all kept in lidded boxes or baskets and it's all labelled. DH was a bit wtf at me but we both know exactly where something is and where it needs to go back to.
And I always come back refreshed, relaxed and looking forward to our next trip. Alcohol is drunk, fresh air is plentiful, and weight is usually lost too!!