Yep Im with Burnsy and Brad that non slip rubber matting stuff is the way to go and have used it almost everywhere.
Check your $2 or Chicken Feed shops for cheaper rolls. The good wine glasses go into stubby holders. Plenty of Tupperware or similar for everything else. Use plastic australia post type trays in overhead cupboards for the hard to reach corner bits especially.
Not sure what to put in van? Put sticker dots on everything. Peel them off when you use something. After couple of trips take out anything that still has a sticker on it.
We have one drawer for odds and sods (everything from batteries, band aids, first aid stuff, pens, glue, etc., etc.) All in individual ziplock bags with demo labels-Easy to find. Use small cane baskets with some of the rubber stuff glued on the bottom for things like remotes, keys, torch, USB connections. They sit neatly on ledges while camped and just get emptied into $2 pencil cases for travel, which fit in cupboards anywhere.
SWMBO made calico bags for reading lights and anything else that needs some protection. Writes on what's inside so I can find again. Will post some pics is anything doesn't make sense to you.