Nearly all caravans suffer from this proble, in order to heat The HW instantly, the boiler needs to be of a high KW input, but the surface area to install radiators is minimal so the tend to be small , your boilers lowest modulation is 9KW, I will bet your radiators are less than that in total, some boilers can go lower and are better suited for your set up , but you have a vey simple cheap boiler, it can only produce what it was designed to do, if you have space to fit plinth heaters, they are fan assisted and move heat a lot faster than small convector radiators then your van will heat up a lot faster and the boiler wont cycle so much