Can a bailiff take a campervan that I am living in?

No

Bailiffs cannot take control of a campervan, caravan or boat that is occupied as somebody's home.^[1]

If a bailiff takes control of a campervan, caravan, boat or any goods that is occupied by someone as their home, the owner may make a claim to exempt goods.^[2][3]

^{[1] Regulation 5 of the Taking Control of Goods Regulations 2013
[2] See Making a claim to exempt goods
[3] Civil Procedure Rule 85.8
[4] Paragraph 60(1) of Schedule 12 of the Tribunals Courts and Enforcement Act 2007}