Few schools of thought on adhering to the walls etc. Trimfix adhesive is awesome stuff and will withstand high temperatures without loosing its adhesion so is great for the van (particularly when it comes to carpet lining). I had mixed results in using it to stick the insulation to the walls/ceiling with though as you are attempting to stick a flat thing to a curved thing, so you actually end up with 2 narrow points of contact, but I had much better results using spray foam. I also initially tried to be smart and used single, large, accurately cut pieces of insulation board to do large sections of wall in one go.
After initially feeling quite smug I soon realised that, due to the size of the boards and the curvature of the van walls, whilst the boards were in contact top and bottom, there was up to 3-4" gap between wall and panel near the middle (obvious but didn't occur to me initially). So, whipped them out and used much smaller pieces. I also used expanding foam to adhere them, as it fills up the gap at the rear. One issue with that is that the foam needs air and moisture to cure, so it really only cures in the 3" or so perimeter around the rear of each board. In an exercise that was anal even by my standards I then cut small holes in the centre of each board and injected more expanding foam between van wall and board to fill the gaps. I'd been reading up on interstitial condensation issues and had made myself a tad paranoid. Interstitial is the condensation that forms in the voids - so in this case between van wall and the rear of the insulation. It's likely of negligible issue given the gap sizes to be honest.
If you go the expanding foam route, get some lengths of timber to just prop the boards to the walls so that the foam doesn't try to push them out.