For air to enter the van air has to leave the van, if the warm air being exhausted is laden with moisture from burning gas hob / cooking / exhaled breath then it should keep the van drier.
That said there is no way I would run a heater inlet from outside, it just isn’t efficient.
It is important to ventilate a van whether heated or not as the moisture will build up and condense throughout the lining, bedding etc, one thing worse than a cold van is a cold damp van.
Crack the cab windows open and sleep well.
Before anybody asks, no a rogue traveller won’t inject gas into the van rendering you helpless before breaking in and stealing your prize possessions.