RV travel · Belgium

I’m planning a 6-month trip to Europe from Canada. I want to ship my Volkswagen Westfalia van from Halifax to Antwerp. Since I’d like to come back the following year, I’m wondering if I can store my van in Antwerp for 6 months at the end of the trip and if it’s worth it price-wise instead of returning by RORO and leaving again. Do I need to clear customs for my van before storing it? Thanks for your answers.