Earlier quoted context omitted.
Paint a QR code on the side of the van instead, I bet it would get more engagement even with a .com address.
QR code requires you to scan it in that moment. A human-readable (and -recognizable) URL stands a chance at being remembered at a later date.
Not really, anymore. Android permits you to take a picture of a QR code and use it's URI later by going to the saved picture and clicking "Lens" (which activates Google's ML to identify QR codes).