Add my vote for an Espar furnace. We have had both heat and hot water on Rixen's hydronic systems in both our previous (diesel) and our current (gasoline) vans. There is pretty much nothing not to like.
Rixen's is relatively expensive, but it is a fully-worked-out system and their support is beyond great. If money is a major issue, a DIY system is certainly possible. Proper installation is a necessity, though, or you will not get reliable operation.
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Now: 2022 Fully-custom buildout (Ford Transit EcoBoost AWD)
Formerly: 2005 Airstream Interstate (Sprinter 2500 T1N)
2014 Great West Vans Legend SE (Sprinter 3500 NCV3 I4)
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