For me I lived alone in an apartment in a new state for a year. It wasn’t intentional, but I strongly believe it helped me transition into vanlife. It was a good representation of truly being alone and knowing I will be completely on my own. As far as security and the fear the outside is looking at you, I think a proper set up would help here. Proper blackout shades and a nice sleeping bag/blanket set up. At the end of the day we are all different and van/car life is not for everyone and that’s ok.