1/ use masking tape and mark centre of rear of van
2/look at the instructions and check the hieght (usually says between x and y)
3/check if you have obstructions like towbar/step
4/ if no obstructions then whether you have a 2 or 4 eye kit mark out on masking tape equal distances from centre for each eye
5/ if tow bar etc i tended to use a 2 eye at the furthest from centre i.e on a transit with rear quarter bumpers then in those.
6/ check where you marked ie is the surface flat or sloping this determines which adaptor to use.
7/check behind where you are marking and make sure no obstructions (dont want to drill through a steel bracket)
stand back before you drill anything and do a visual check to make sure it looks ok and re measure to check. (too late when the holes are there and its in the wrong place

)
providing you are happy then proceed usually these kits come with a hole cutter ,, use it.
if going through metal i always use some primer or topcoat on the edges.
occasionally depending on the rear or front layout (works for frontal sensors as well) i have moved either the inner or outer sensors up or down slightly just to fit the bodywork (if you look at front mondeo sensors you will notice factory do as well)
when the sensors are in and you are happy wiring is a breeze. earth to body,live to reverse wire, sensor plug in make sure correct order, and additional display if with it run to front.
as regards the camera depends again on the kit but not really any harder and from the ones ive fitted just require you to connect in to display and pick reverse and earth up.
i think on the vivaro ive seen cameras that fit into the the door brake light high lvl .
one thing i will say is having fitted loads and most brands try to hard wire the video feed ,dont rely on the wireless type because in my experience they will cause probles later on maybe a few months but picture faults etc. daughter wanted wireless on her zaphira and within 6 months i was pulling a rca lead through to hard wire it ,works perfect now.
sorry for the wall of script ,hope it helps.
easier if its the same as the picture.