An A frame can be fitted to an Aygo. We are doing that to our Aygo in April
Depends if a tow bar can be fitted to your van. They usually can. Best ring a specialist installer.
Then you need to think about how much the tow bar digs into your payload.
Short answer to your query is probably
Contact Armitage trailers near Pontefract, they are very helpful. I sent them phots of rear of MH underside and they told me what was required and gave me a price for fitting to. Be aware that anything fitted to vehicle registered after April 2012 has to be type approved.
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