It’s very fun to drive and sleep around in a van!
The hosts provide a detailed guide with many spots where you can park and sleep, and the island is not that big so there is no problem moving around. There are many beach parks with restrooms and picnic tables all around Maui.
The van is easy to drive and is very well equipped with a sink, beach chairs, and even a camping toilet! (Which I never used but it’s good to know it’s there)