How long do you plan on keeping your van?
How old is your battery?
What is your current charging strategy? Do you leave plugged in at home? How to you know your battery is fully charged?
I only ask these questions because the majority of people undercharge their AGM batteries. Everybody worries about overcharging, but few pay attention to actually fully charging the battery. This results in decreased capacity of the battery.
Have you done a energy audit?
the answer is probably no, a good first step would be to add a good battery monitor. This way you can get a good idea to your daily usage. It will also help you come up with a charging plan.
If really thinking about Lithium list out what invert/charger you currently have. Two of the three SMB can be programed for Lithium, the other one is considered usable, but it would not be my recommendation.
As I think you realized Solar should be a go without in either case.
Rich Solar makes some nice
200 watt (24 Volt) version.. Two these would give you 400 watts , the Higher voltage would give would answer the turn on voltage question in series versus parallel. Running them in parallel with a aux port for a
nice foldable setup would give you another 200 watts. Pair it with a Victron SmartSolar Charge Controllers MPPT 100/50 and you would be good to go.
Yes you can attach the solar charger to the same battery cables that go to your inverter. As stated as close as possible to that point. The Inverter cables are most likely large thus somewhat minimizing the voltage drop from that point to the battery. Use the largest available size to that point.
Sorry to drop Victron in the equation, but they do make goo products. Feel free to reach out if you would like.
I also have a Morningstar TS MPPT- 60 in my garage. This is used, and it has been collecting dust for a while. It is a great controller. I have used it on both AGM and Lithium.