My local stores have no 4x8 sheets of XPS and won't ship from other stores.
Why don't you think pour foam would work?
I just started looking into it. Total Boat offers a "floatation foam" with a compressive strength of 38psi. It's moulded weight is 3.3 pounds/ cubic foot, so it would add an estimated 26 pounds to the camper compared to the FOAMULAR XPS 250.
I haven't found any information about how well it adheres to bare wood yet, but if I don't have to wet out the wood in epoxy first, that might save me a bit of weight and money.