Also there’s just a ton of anxiety needing to move around constantly. Where are you exactly where that’s not a worry?

Depends on your motivation to live in a van. My parents just moved into a pick up truck turned RV because they want to move a lot. Travel around, see the world as long as they still are able to. It’s not a thing to accomodate, it’s the real deal to them.
(Though they are kind if priviledged they can afford this with an early retirement and by selling the house they owned.)