Will they be on the bench seats up front with you? If you are planning to put them in seats within the camper itself, it is worth checking with someone who is actually trained in car seat fitting whether those seats have the right approval to put car seats on. Sometimes they have a seatbelt but it's not actually up to the right safety code. (I don't know any more specifics than this so can't help unfortunately!)
In terms of what actual seats to get, I would get a high back booster for the 5yo - any is fine. These are some suggestions:
Britax Kidfix M i-size is on a good offer right now, or Graco Eversure i-size is on amazon at the moment for £55 if you want something cheaper.
There are not a lot of 123 seats on the market any more fitting with seatbelt and the ones which were known to be decent are no longer available. You could look at Joie Elevate or Cybex Pallas but TBH I don't love either model.
It's true that the ERF seats are the safest, but I am guessing both are probably already forward facing, so you might not want rear facing seats. If you're open to rear facing, Graco Slimfit R129/Joie Every Stage R129 is a good budget option.
The only issue would be if the 3yo is big for their age (and are they just three, 3.5, nearly 4?)