Not Everything Scales;
A Drain Pan, is a building (house) technology part. The idea is if you have a water leak PRV or Tank, the drain pan collects both which is the potable water system “to atmosphere” then to the drainage system which you can think of usually as “sewer”.
So IMO, in a Van ,,, it don’t scale ,,, meaning it is a different situation. For some things I would run house plumbing in a van & for other things I would not.
If you have the PRV blow, I would think it would be good to let that drain directly outside your van. You could simply run a drain hose to the outside & you might not need to make a new hole if you can find a route to a factory hole.
Not sure of your entire system, but I doubt you are talking about a large volume of water here.
I used PEX, but a male thread to barb hose & then a single length hose to drain outside would be simple;
View attachment 87437
Note; Photo example only to describe the brass fitting which IIRC will be 3/4”, but the PRV will be on the HWT so you can sort out the correct NPT size & then “pick” whatever hose size you want (at least 3/8” in my mind - but you are not talking about large volumes or you have a real issue).
Most likely it will never see water other than a slightly leaking PRV when the HWT is heated.
So to answer this;
View attachment 87438
Yes !!
Via “Hose, but thru the rocker cavity & under the van”
Via “Existing Rocker Drain Hole” - just pull out one of the rubber plugs