Replacing the foam is fairly straightforward on most cars, the cover is held on by hooks and velcro, or just stretches over the ends of the frame. ~£70 and it’ll be like new.
The problem with any pad on top, is it’ll tend to sag into a U-shape and roll you into the middle, whereas a big block of foam with springs under it sags vertically an supports you. Like the difference between cheap and pocket sprung mattresses.
Caveat that opinion is a mix of reupholstering and re-foaming my old MG, and taking apart a Ford Fiestas’s driver’s seat for an unrelated issue (fixing the tilt mechanism). I’m assuming the van would be as easy to dismantle as a fiesta was, and the benefits as good as putting decent foam in the MG.