I grew up doing a lot of camping, it was what my family could afford: week long dune camping with pit toilets or shorter camping trips in the redwoods and bathrooms. I now prefer cabins or comfy hotels with pools and jacuzzis.
Dh and I camped some before kids and camped twice when ds was a toddler and that was nut with wandering off and not sleeping. We have not gone since having dd. Now she's old enough to skip nap, so we can probably try again. Just car camping, with air mattresses, stove, lanterns, comfy chairs and bathrooms, preferably with showers, for maybe 2 nights and only about 45 minutes away in the redwoods. It is a lot of work, but I'm hoping if I have a good attitude about it and keep meals, etc, simple, it should be okay. And I know my kids would love it.
I wish we could have a camper, but we don't have the money to buy one, or the car to pull it, or the space to store it.