Ds first went camping when he was 3 months old, we just brought our take along swing. We took a break from camping when he was at the crawling stage, he didn't like to play in the pack n play very long and wanted to be on the move. Once he mastered walking we started up again. We strictly car camp where there is bathrooms and running water, no backpacking.
We have always used the same pack n play for him to sleep in whenever we traveled and he regularly napped in it at my parent's house, so it helped with falling asleep in the tent. We can pretty much go anywhere as long as we have that pack n play (I don't know what we're going to do when he outgrows it, he's 3 so it's coming
) We also bring a battery powered fan to create some white noise for him.
I like for ds to be clean, but don't restrict his play because of it. I let him get dirty daily, but change his clothes at least once a day. So, that was the hardest thing for me to let go. Kids get really dirty when you camp, but that's okay. I just clean him up really well each evening and throw some clean jammies on him so at least he's clean while he sleeps.