Wife and I camped a few times before kids. We took our first son tent camping when he was around a year old and we had a terrible night. Not his fault, he was used to his pack and play when we traveled and we decided (bad idea) to try him on the cot. He woke up in the middle of the night and wanted to sleep with us but neither of us were used to it and all 3 slept terribly. Despite that, we had a blast during the 2 days.
Our next family camping trip, our son was 3 and our second son was 5 months. We rented a Popup camper at Disney Ft Wilderness last year. We all did much better in the popup. This sold us on the idea of RV camping with them going forward. We are now waiting on our HTT to arrive to take adventures.
I would highly recommend listening to RV Family Travel Atlas, they do a podcast that is geared to this topic, RV lifestyle with a young family:
RV Family Travel Atlas
They are also big Jayco fans, too.