As soon as the other two siblings could put up their tent outside, we did and helped them and were much happier, Living in the van was quite cloustrophobic. Never mind being driven around every day to see new things which was all very well, for my parents, but constantly unsetteling for we kids.
As they grow up children, then adolescents, they need more. Children in particular benefit from stability, not constantly on the move. I was much happier with long vacations in one place. Don't kid your self that it is a great experience for them, always, no matter how hard you try.
One relative insisted on "home schooling" his children with his dominated wife (very bright). Well they have turned out OK but damaged a little. Actually quite badly.