What about Erica Wisner's Caddis Fly design, here (about halfway down the page)?
https://ernieanderica.blogspot.com/2015/10/pyronauts-in-montana.html
or on Archive, in case of future link rot:
https://web.archive.org/web/20231001000000*/https://ernieanderica.blogspot.com/2015/10/pyronauts-in-montana.html
I think it's fair to characterize it as a pocket rocket with thermal mass. She intended it for just such applications, though I don't know that she did any further development work on it after the initial collab at Wheaton Labs with Peter Van den Berg and others.
This is somewhat akin to a half-pint pönttöuuni, a Finnish heater built of bricks and/or fire bricks fitted inside a cylindrical steel skin, discussed in this thread, among other places:
https://permies.com/t/40876/ntt-uuni-metalcontainer-wood-burning
There were also small masonry heaters of quadrilateral footprint (as compact as 2X2 bricks - perhaps 16 to 18 inches or 400 to 500 mm square, depending on the size of bricks), apparently somewhat common as heaters for upper floor apartments in parts of the Eastern Bloc, which were built of common red bricks and sometimes fire bricks or specially shaped pre-cast refractory blocks, with a steel angle tension frame and having sheet steel skins slipped between the bricks and frame. Since these were usually single skinned, due to the space constraints, the sheet steel shell gave some additional protection against leaks due to eventual cracks in the mortar joints. David Lyle shows a plan for one or two of these small stoves in the appendix at the end of his masonry heater book, as I recall. Some of the Soviet stove building manuals also detail such small masonry heaters, but I don't have the references at my fingertips. With adequate framing, these might withstand some shifting and shimmying in a van.
Gustaf Edvard Asp also shows several smaller form factor masonry heaters built into steel shells in his book "Uuninmuuraaja" (I have a scan of the 1948 edition), though he does not appear to envision these in mobile applications (!). There are both two and three pass contraflows shown which aren't far removed from Erica's Caddis Fly, give or take some height and a fuel door. Erica's version is simpler, smaller, lighter and would be cheaper & easier to build.