Met this nice Czech couple who are touring the country in their Ford Transit Connect with a "Nestbox" drop in bed-and-kitchen assembly:

Weekend camper module for small vans-capture-1024x768-.jpg

The module consists of a bed with a slide-out kitchen containing stove, sink, and fridge, nicely built in euro birch ply in a Westfalia sort of style. The whole thing straps to hard points in the van and can apparently be installed or removed in a couple of minutes... pretty slick, although bikes would have to go on a rack on the rear hatch.

They are blogging their trip (natch): https://www.instagram.com/nestour_north_america/
The module is from the Czech Republic altough apparently there are plans to import it here if a market can be developed.