You could add a wrap to the van including covering the camper windows (they make a kind of wrap that covers windows but can still be seen through (kind of a perforated look)). The wrap could be "Sagan's Pet Grooming" with fake company name, logo, maybe even contact number... on the front fender you could put a code like "SPG008" (translates to Sagans Pet Grooming van #008) so it looks like a fleet van number.... Given the camper roof, etc. using pet grooming might make sense for how the vehicle could be used in a commercial context... be creative... I see plumbers, landscapers, dry wall, delivery vans, food trucks, food delivery vans on the street all the time and never take a second look. Seeing that on the street no one may notice.
I heard wraps are between $1K and $3k depending on complexity and quality of installation.