Hey, that would be pretty clever if you could do that! I worked on one of those vans before, and was just as surprised as you that they didn't also include a keyless entry on the remote.
I have never done exactly what you want before, but I have some thoughts that ought to put you on the right track.
In recent years, GM has been integrating a LOT of its electronics stuff together. I don't think that you are specifically going to find a "panic output" anyplace. Probably all of that remote stuff is integrated into the BCM (Body Computer Module).
But remember, the panic button does what....honks the horn on and off, right? Well, let's consider the horn. The horn button (and also probably the BCM during panic mode) put out a ground......this ground goes to the van's horn relay......then the horn relay puts out a strong positive signal to operate the horn.
If you don't already have a working knowledge of relays, you'll probably need to learn about how they operate before you'll be able to get this accomplished. The "Relays" link on the top left of this page is a good place to start.
I can tell you that on your van, all of the lock/unlock relays are located in the fuse box under the driver's seat, and they are clearly labeled.
I don't know where the van's horn relay is, but you'll want to find that.
I can also tell you that the doorlock relays on your van need a positive trigger to operate. There's a harness coming out of the fusebox, going forward, that has a handful of small white and light blue wires in it----one or more of the whites there will be positive unlock.
I hope I'm not being too long and drawn out here......I'm sort of thinking and typing at the same time right now. Hopefully I'm making some sort of sense.
---We know that anytime the horn is operated, positve power exits the horn relay (wherever that is), goes out underhood, and turns the horn on. We know that the horn operates when you press Panic.
---We know that you don't care much about the panic feature.
---We know that you DO care about being able to operate the horn while driving the van.
---You probably don't care if the horn works while the van is off, do you?
So here's what you do. You just need one relay. Take the positive horn wire and split it so it operates the unlock when the van is off, but it still operates the actual horn when the van is on.
So your first step is to find the positive horn wire someplace. I don't know where that is, but once you find the horn relay you'll be on the right track.
Next, cut the horn wire straight in half. Wire your relay like this:
85: ground
86: ignition (any wire in the van that shows a positive when the key is in Run)
30: the side of the factory horn wire that is coming from the horn relay
87: the side of the horn wire that goes out to the actual horn
87a: the small white positive unlock wire in the van
So here's how it will work:
When the van is on, the relay is on. This means 30 and 87 are tied back together......meaning the horn works just like when the van left the factory.
When the van is off, 30 is connected to 87a now. This means that whenever the horn tries to come on, it won't work, but instead the van's doors will unlock!
Just two minor issues, but they probably won't bother you:
-When you push panic, the doors are going to unlock over and over and OVER until you shut the panic back off again. But that's no big deal...... just hit panic once, then hit it a second time. And the panic times out after about 30 seconds, so you'll never kill your battery even if you make a mistake.
-If someone pushes the horn button on the steering wheel while the van is off, the doors will unlock. Odd, but not bothersome.
I hope this helps!