Ford transit or Sprinter vans, for example. You could probably install a front diff and CV axles with an electric motor attached if unstrung weight was a concern but I doubt it makes much difference in a 3/4 ton or 1 ton van.
A camper/adventure van could benefit from a big battery bank anyway.
I have found that most places I would take a van require a few minutes of 4wd per hour of driving so it wouldn’t need to be something that runs a lot.