Had the exact same issue on my narrowboat last summer — drove me absolutely mad for weeks before I tracked it down.
First thing to check is your input voltage. When the engine warms up, alternator output can actually drop slightly on older engines, and if you're running other loads at the same time (bilge pump, navigation lights, fridge), you might be dipping below the Orion's minimum input threshold. It'll cut out as a protection measure and you'll never know unless you're watching a multimeter.
Second thing — and this caught me out — check your cable runs and connections. Heat causes resistance to increase, so a connection that's borderline fine when cold becomes a problem once everything's been running 20 minutes. I had a slightly dodgy crimp on the input side that only showed up warm. Thermal imaging on a phone attachment actually spotted it in the end.
Worth also checking:
- Ventilation around the unit itself (mine was tucked in a poorly ventilated locker)
- Whether the engine alternator has an external regulator or is stock — some older marinised engines run the alternator voltage all over the place
- Firmware on the unit if you haven't already, Victron pushed some updates that addressed cut-out behaviour
What engine are you running? And is the Orion isolated or non-isolated? That might change the diagnosis a bit. Others on here will likely have more specific ideas — there's a few narrowboaters and van lifers who've been through similar.