I insulated my floor with the fiber cloth insulation used in RV's. Then I laid carpet over it. because I camp in cold weather. I also insulated with closed cell foam under the cushions in winter.
I WOULD NOT recommend the spray foam anywhere in the camper. It is highly flameable, caustic, and makes a big fat mess.
Some people have used Reflectix bubble insulation behind cabinets and in the inner shell of ceiling, others have used carpet in the lower cabinets. I WOULD NOT USE THE
FIBERGLASS INSULATION ANYWHERE! THE GLASS FIBERS GET IN THE AIR YOU BREATH AND ON YOU IF YOU HAVE TO GET INTO THE COMPARTMENTS. Campers vibrate while in travel. Pardon me if I misspell a lot.