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You wouldn't run an AWD Astro on any soft beachs without getting stuck. Not enough ground clearance with the tire pressure let out plus the van has a very high center of gravity coupled with a narrow track which would be prone to flip on a lot of the grades customarily found on the beaches. The AWD system in those vehicles are also not as reliable and mechanic friendly as the conventional 4wd systems found on your typical 4x4s. My brother has an Astro (2wd) for his business and it's a good smaller van and has been reliable but that style wouldn't be good for the beach. It would be very good for traveling the coast to access spots by foot and it would convert nicely with a mini bed and such....
For the same kind of dough you can get into a mid 90s small blazer (get the 4.3V6) or an Explorer or older 4-Runner. These vehicles can be altered a bit to provide sleep space if you want to be comfortable. You can also get an older full size Bronco (I have a 92) or Blazer (pre-91) but I swear there is a hidden hole produced in all gas tanks of these vehicles forcing the 12MPG these things get...
As far racks all up and down and all over, most of these vehicles will handle a 1pc nine footer internally (best for driving) or on racks made up for carrying externally... 4x4 Pickups with an extended cab, cap, and a 6' bed can also do what you want and an early 90s 4cyl Tacoma with a extra-cab will do economical coastal duty for you and they are as reliable as heck (I used to work for Toyota but I do buy american whenever possible)... I'll put up some shots of my "Beach Buggy" shortly...
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