I insulated the voids in the walls and ceiling with board foam and spray foam, then covered everything with Reflectix. I have a permanent bunk with a sleeping bag on top, but I usually open the bag and sleep uncovered. Once in a while I'll pull the flap over on top of me, but not very often. I don't wear a flight suit while sleeping, either. Last night it was 6° F outside and it was 77° F inside, and I only had the Espar turned up about half way.
Insulation and airflow are the keys to keeping warm. With my Espar I have an air duct on the cold air return stretched out to the rear of the van, and the heat output is split between the front and rear of the van with a "Y" duct connector. This keeps the air flowing throughout the entire van, reduces cold and hot spots, keeps the heat evenly dispersed.
Moisture is a problem with propane heaters in particular, but any time there is a temperature differential, moisture will condense on bare metal and windows. On a Sprinter, that roof slope above the headliner is a particularly good spot for condensation to form (same with any van above the headliner). If not insulated, water will drop onto the headliner and stain it, and it can even drip down on the dome light.
With my first van I slept on an air mattress on the floor. I found that one of those double-height twin mattresses from Walmart worked best. I used a Coleman D cell air pump with an AC adapter to inflate it. It was certainly easier to get into and out of bed with a higher bed, and it reduced the cold dramatically that was present with a single-height mattress. I had to replace the double-height mattress every 2 or 3 months, though, either because it would eventually get stretched out from being inflated and deflated daily (sometimes more than once a day) or from picking up a pallet splinter or something else that caused a hole. Nothing quite like going to bed on a full air mattress and then waking up in the middle of the night in a hammock like a half-folded pocket knife.