So do that mean if you have a truck pulling a travel trailer or a toy hauler, you will have to park the truck away from the trailer or toy hauler once they are set up?
When you pull in, if your tow vehicle fits you can keep it there. If you move it, you won't be able to bring it back there until camping is over. It would have to be parked in onsite camping parking which is just adjacent.
A pick up truck and a tent are not considered an rv and a tow vehicle. You may camp in your tent and park the pick up at onsite camping parking.
A van is not considered an RV and would have to be parked at onsite camping parking.
Are you positively sure about the van not being considered an RV? If this is the case, you have really thrown a wrench into the works for me. I have always used my van as an RV for camping.