Use the URL that gets you directly to the image only.
In this case: http://img.photobucket.com/albums/v162/WillieNunez/FriendsSkylaneRVdeer002_zps9440bbc2.jpg
The process for connecting the arms generally includes raising the jack up above level to take the load off of the bars before connecting them. Do you follow that process? IF so you'd have found this situation.
Running the roof air conditioner from the inverter is not possible for most of us period. No there is not enough power even with the engine running. This is why most all of us with motorhomes that have generators run them to power the roof air conditioning while driving down the road.
You get on your back and shimmy yourself under there like the rest of us, or just write a check. It's not rocket science! But as stated there's not much going on. Lube the front end, u joints (gasser), etc...
Rear wheel drive full size vans cannot be towed on a dolly unless you remove the drive shaft first.
If this is a FWD Minivan then yes you lock the steering and put the tranmission in park. The wheel straps keep the van from moving around relative to the dolly so there is no stress on the steering or transmission.