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4WD van != AWD van. The Quigley conversions use 3/4 ton pickup running gear, and in the case of the Ford vans they're essentially a 3/4 ton truck underneath anyway. As for your Astro's crumple-zone problem: that was an issue with both the Astro and Safari, where the crumple zone was...
You might look into a 4WD van, or convert used van-based RV to 4WD.
Regardless of what you do, definitely get front and rear winches. In addition, make ground stakes to make self-recovery in areas without anchor points possible.
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