How to register van into camper?

Hi everybody,

I have been searching for a while and googled but I am still not sure on this.
Found a few (old?) documents from RSA as well.

But im not sure what you actually have to do when you want to start the registration process.

has anyone done this recently?
How do you declare a van into a camper van and whats the first step?

Does is still require an engineer to check the van for the necessary requirements?

Thanks!