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Are you getting the ARB awning?
It looks awesome, hoping to get one soon.. not sure I want the full room but a wind side panel would be good
https://campervanculture.com/shop/arb-deluxe-awning-room-with-floor-2500mm-x-2500mm/
If you have seen this YouTube video
of GMBN racing at Ard Rock it shows Neil (coincidentally) sleeping in his van next to his bike, which is wrapped in a movers blanket and bungee-corded to the wall.
Which of course shows it's possible - but (as I have mentioned) I'm an old man who likes comfort, so I'd like the bikes to be secure in the separate compartment in the back of the van, and me sleeping in comfort upstairs, with cooking facilities that can either be used in the van or moved out to under the awning.
The awning I'm getting is (apparently) straightforward and affordable to build out into a more complete shelter.
This is the sort of thing: