The adhesive's your weak point here. That 3M VHB stuff everyone recommends works, but only if your roof's properly prepped—I learned this the hard way on my static caravan.
You need to:
Clean...
The voltage question really comes down to what you're actually running. In a Sprinter you're constrained by space, so efficiency matters more than in a static setup.
I'd lean 24V for your use...
The audit's critical, but I'd push back slightly on one thing—don't get paralysed by perfection. I've seen folks measure every milliamp for months when a rough week's logging (as @DownsExplorer...
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