So 35-40 thousand is about right. I don't think it sounds that bad actually. You can probably make it even cheaper by purchasing a pre-owned van and save a few grand. Packages range from $13,500 for a base package (pretty much a camper without water or fridge) to $20,000 for everything including sink, fridge, fresh and grey water storage, outdoor shower and so on. You can even get standalone items like just getting the pop up roof, awning and so on.
View my fuel log 2015 Mirage ES 1.2 automatic: 42.5 mpg (US) ... 18.1 km/L ... 5.5 L/100 km ... 51.1 mpg (Imp)