As to insulating this aluminum camper, what I would do is use ceroplastic/coroplastic sheets with the "vents" or corrugation running vertically. At the bottom of those sheets a drip rail running the length of the wall and outside past the corners.
This stuff will give you an air gap and moisture created inside it can run down the corrugation into a drip rail. A 4x8 sheet weighs 3 pounds. It's not as stiff as plywood but fairly stiff, the thicker the stiffer it is. This material is primarily used for outdoor signs and it lasts.
A drip rail could be made from a small flexible rubber tube, cut a slit in the tubbing and slip it over the bottom edge. The slit would stop at the edge of the end of the sheet, at each corner, forming the tube then allowing the tube to extend past the camper to drain. Only a couple of inches would be fine for it to drain.
At the top leave the ends open to all air to escape to the aluminum roof.
After your interior box is formed then use spray foam.
On that project I would not add walls and ceiling to the interior, I would upholster the interior over the foam. I'd probably use auto grade or indoor/outdoor carpet, the thin stuff often used to cover speaker boxes or the rear of an SUV.
People have made small sleeping shelters out of coroplastic alone, simply attached to a frame. This could also be used upstairs for the bed area.
This would go against the aluminum sides.