We started in tents when she was just under a year old. We didn't get our first pop-up until she was 8 or so. She's 30 now and still loves tenting although she doesn't shy away from staying in our trailer either!
My only advice is just to focus things you do as a family rather than individually. Camping trips need to be as much about the kids as they do about us. When she was really little our focus was mostly on her. As she got older we involved her in trip planning and gave her options for things she might want to do instead of us dictating everything.