Our van has the walkthrough design, and we have two 20" fat tire e-bikes which fold in half. They fit nicely down the aisle at the back of the Van. Does hinder access to sink (unless we open the backdoors), stove (but never cook inside), the tall closet & couple drawers.
We still have access to the Fridge and our gaucho still folds out. Have slept in the Van a couple times with the bikes still in place, but anyway you spin it they take up space.
We don't use a rear bike rack, simply because these things weigh in excess of 65lbs each...I'm not inclined to lift them that high or take them down. But, they are more protected inside the Van.
Sorry, no pic's of the Bikes in the van - but you can envision the aisle with the two bikes from the end of the gaucho to the back.