First off, congratulations! Funny to read that with so much to think about with a first baby on the way, your focus is on
baby and Cali ;-) If it's a girl, please do not call her Cali.
We found the Cali to be a very convenient vehicle when our kids were babies. You always have a convenient, warm, dry, private place to feed the baby, heat milk, change diapers, carry food, and let him/her take naps. It basically is a babymobile.
Sleeping
When they're real small, you can just take the bassinet from the stroler and let your baby sleep in that. Both during night time and during the day. At night sleep in the downstairs bed yourself and put the bassinet on the kitchen counter. Fits great and makes it possible for you to reach it easily in case he/she wakes up during the night.
When the baby gets a bit older you can start to use the space behind the bench as a play pen / place to sleep. When they get even older, but can't (really) walk yet, you could consider bringing a foldable play pen to set up outside when camping. This way they can be/play outside without you having to worry/keep an eye out every second of the day. Makes camping much more enjoyable for the parents.
As soons as our youngest was too big for the bassinet, we let him sleep in the upstairs bed. Worked just fine.
A thick pyama/wearable sleeping bag kept him cosy. Make sure you have a child-saftey net. A night light also helps. Remember to put something over the mattress in case the diaper doesn't do it's job properly.
Child seats
In the beginning, especially when driving alone (one parent instead of two) we found it very useful to have the baby-seat in the front (passenger seat). It's quite a difficult thing to drive safely when you are alone and your newborn is crying in the back. You'll be trying to look at the baby/sooth him/her and that's just unsafe. Just remeber to turn off the airbag for that seat. Also make sure you pick an isofix-connection that can be easily placed and removed in the Cali. Perhaps this is better taken care of in new models, but in our T5.1 it's an incredible hassle to place and remove the isofix seat.
We never used the table to change diapers. To easy to fall off we figured. We used either the bench or the back of the van. Standing under the openend tailgate, the heigth is just right and your child can't escape anywhere.
The best advice we can give goes for the baby in the Cali as much as for the baby in general:
If you as parents are relaxt, you'll have a relaxt baby. Make sure he/she is safe, fed and loved but don't go crazy, then he/she won't either.