This exact same problem stymied me for quite a while as well. In the end, based on advice from a forum I went with a motorcycle lift. However it is not quite so simple as that, here are the extra details that would have benefited me.
1 - You need enough vertical ground clearance to drop the box and be able to get access to the connections on it. Using the lowest-profile motorcycle lift you can find helps a lot. I tried a cheaper one that didn't have as low of a profile and had to return it. I recommend this one, there are a pair of rubber-topped spacers on the lifting surface that are removable to lower its profile even more:
Motorcycle-ATV lift - Aluminum
This is not enough however. You will also need to raise your van. I did this with a combination of RV levelers (the
Camco ramp type that provide 3.9" of lift), along with a platform I made of 2x4s with a 3/4" plywood backing. I sawed the 2x4s so that they have a 45 degree angle that faces up, this way there is a near continuous ramp up the 2x4s to the levelers for a total lift of ~6". To get the levelers to stay on the wood platform I put a piece of bicycle inner tube under them - this gives them some grip on the wood, otherwise they are pushed off the platform when you try to drive up.
2 - I added a narrow piece of plywood to the top of the jack because my battery box had a tray in the middle with the fixed sides coming down level to it. I needed to lift the tray without pressing on the sides, the plywood piece allowed the lift pressure to be centered only on the tray.
3 - Make sure you have the handle of the jack attached tight - it will fall out if you do not use the thumb screw to hold it on.
4 - When you are ready to lower you must flip the safety hold off, otherwise the jack won't come down.
5 - Disconnect the negative wire coming from the battery before dropping the box. Cover the metal end of the wire with electrical tape. This will prevent any chances of a short due to accidentally touching the battery terminals to the box or tools. The negative is attached to the frame, so by disconnecting it you make any frame or metal contact to the positive a safe situation. The opposite is not true for the positive - disconnecting it does not prevent the short circuit potential if the positive of the battery comes in contact with the frame.
6 - I agree with the plywood recommendation. $60 in plywood would be money well spent - it will save your back and make it much easier to position the jack. Though the motorcycle jack doesn't need to be perfectly positioned to balance the batteries, the wide lift surface does a pretty good job on its own. Plus, rolling the batteries out from under the RV will be nearly impossible on gravel - they are heavy and the jack wheels are small.