I completely agree that if you want to be able to take care of occasional maintenance/replacement yourself you definitely want to make space for your batteries IN the van. This necessitates AGMs of course, which I think you're probably going for anyway. There is really no way to easily remove heavy batteries from under a van. The bigger the battery the worse it is. I cannot imagine lifting the 4d and heavy rack I put under my Econoline without jacks or a lift. Using a lift or taking the van to a shop with a lift is the easy way. Raise van, put table under battery, unbolt/unattach, lift van higher and scoot table out from under. More than you want to fool with, certainly.
Wishing I were in Moab, hot or not.......