It's that time of year to think of heat.
I have 2005 Fleetwood Excursion 39S DP, Cat C7, Allison, and two furnaces. While traveling during the winter months the heater (running off of the engine hot water) up front heats that area nicely....
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Go for it. You might get everything you need at a junk yard. Many full size vans have a rear heater just like you are considering.
