We build Passive Houses and there is a point where insulation becomes too costly for only minimal more gains. What is critical is air tightness and thermal bridging. A small structure like a camper will not take much energy to heat it compared to a house. Foam has an R value of 5 per inch, regardless if it is expanded or extruded sheet stock, or 1/2 pound or 2 pound spray foam. Expanded sheet and 1/2 pound spray are considered open cell and do not have air barrier properties; the other two types are considered air barriers.
Dew Point is something which needs to be addressed. When we build a Passive House, the exterior skin is a vapour permeable material, R30 Roxul or Cellulose in a 10" thick wall structure, the vapour/air impermeable layer of sealed and taped OSB or Plywood, and then a 2x4 service wall which is filled with Roxul, and then whatever wall finish is specified. The building science recommends at maximum 1/3 insulation inside the air barrier. Any moisture in the exterior portion of the insulation has a way to diffuse out to the exterior so there is never a chance of water droplets forming in the cavity due to the vapourizing and condensing cycle which occurs inside a typical wood framed home.
Taking the science into account, retrofitting a metal bodied van or trailer is not as simple as just spraying the walls with closed cell foam because there isn't enough insulation to fully create a thermal cocoon. Any moisture inherently trapped between the foam and metal skin has no means to be evacuated and can lead to rusting. A layer of Roxul with a thin layer of 2 pound foam to make an air barrier will allow the humidity to bounce around in vapour form eventually finding a way out in the drainage ports throughout the bodywork. Roxul has the benefit of after getting wet, it will revert back to its R value once dried. Fiberglass batt once wet can never regain its R value.
The SIPs (structural insulated panels) material Victorian uses to build his structures are scientifically the best option for a camper. Air tight, a good compromise of R value to wall/roof/floor thickness and dew point issues minimized. due to no air entrainment. The drawback is that designs can be drawn with an Etch-A-Sketch, meaning very rectangular.