I have a Ford transit 22' DIY camper that I plan to put a diesel heater in. It has 1.5" of rigid foam in the top & bottom, and denim stuffed in the wall cavities. It has windows all around that will get removable 1" rigid foam covers.
Normal temps expected 0 F, possibly on rare occasions down to -10.
The 4 kW heater will provide 13,600 BTU/Hour. This is close to the 16,000 BTU/Hour rating for the Suburban heater supplied with many Class B vans, including mine. Based on my experience with my RT 210P, I would suggest the 4kW.