If you don't mind used, the Ford Transit Connect Wagon is an excellent option for an everyday vehicle that doubles as a camper. We have one and love it. It fits a double mattress with plenty of headroom room to sit up in bed. Ford discontinued it in 2023, hence the used requirement, but I believe you can turn off the internet connectivity on that model. We have a 2016 model (still going strong after 150,000km!) which has no internet connectivity, thankfully.