We have had an RV for over 20 years. Our kids were camping with us at 4 weeks old. Oldest now 21 and youngest 16. They have learned how to respect the land. Seen far more than any of their friends and know more about how RVs work than many adults.
I expect them to continue to camp for the rest of their lives. Nothing but good can come from spending this quality time with your kids.
Many of our friends joined in after seeing us enjoy ourselves so much, but it took them 10 years and their kids were half grown.
Good luck to you and you will never regret your decision.
Pogoil.