The inexpensive solution is
paint, and the seams can be made nearly invisible with paintable latex caulk, dabbed with a damp, crumbled rag to approximate the texture of the Ensolite. But it won’t be soft to touch.
Remember that headliner will have seams, too.
Scamp covers them with strips of the same headliner material. I don’t find it objectionable, but it is noticeable.
It’s very important to choose the adhesive carefully. Auto headliner adhesive (available at auto parts stores) or contact cement would probably be your best bets for large areas. Not sure if either would affect the vinyl surface of the Ensolite; that’s something to check in the product specs.