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Yes, you should certainly have "rear legs" to hold the padded bits against the van.  Our padded bits have tapes to tie them to the legs.   And our legs do have sort of spikey plastic feet at the ends.   Are you sure you have selected the correct ones to go across the front if only one pair extends?  And maybe the spikey ends are missing.

Some of ours have sort of wing nut things to screw in once the poles are extended, others have clips that are screwed in place on the thinner pole to stop it going back inside the other one.   I'm sorry, it's a bit difficult to describe!!

Do you have 3 legs or 2 at the front?  If 2, then you have a Trio Mini, if 3 then a Midi or Maxi.  The Midi is about 3.25m wide if that helps.