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When going for a longer period, we set up an annex. It took longer to set up the whole thing than a tent (had a 6x3 dome tent). Also you have alot of storage, which translates to "we can fit this here".
If I was to go back to a van it would be something that requires minimal set up, but that requires maximum $$$
Oh yeah mate I'm not buying anything that takes longer than 10 minutes to setup. I was thinking a second hand hard floor one with a winch. Otherwise I'll just tow a trailer.
You've seen how quick I set up our tent or my swag