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Words of wisdom:
Pooping and peeing are basic human functions that we all must perform. Bathroom visits are simple in a sticks and bricks house with indoor plumbing but take some planning in a camper.
The simplest approach is to stay near places where toilet facilities are available. This might be in paid campsites, a friend's driveway, 24hr stores, fast food joints, rest areas, etc.
The first thing to know is that solids and liquids must be kept seperate1).
Peeing in the van is fairly simple: pee in a bottle and dump it later. Gatorade bottles are preferred by many men because of the wide opening.
Women and transfolk may find a https://amzn.to/2GEgBIkGo Girl type device helpful. Consider this amazon review:
I peed everywhere. That bush? Yep. Peed on it! That tree? Uh huh. Peed on it. Those tiny woodland creatures? Screw you, b*tches! Peed on them. I peed in the sun. I peed in the rain. I peed just for fun. I peed down a drain. I peed in the light. I peed in the dark. I peed left and right. I peed in the park…
The most common poop recepticle for van use is the bucket toilet. At it's simplest, it's a bucket with some kind of liner for easy removal. The deluxe bucket toilet (~$20) has a seat/lid and may also involve sawdust or kitty litter.
[toilet:composting|Composting toilets]] don't have to be emptied after each use but cost many hundreds of dollars. See why the bucket is so popular?