In our motorcycling days, it started like this - an online Forum. Then someone started organizing small group get-togethers. Then it grew into "Rallies" and similar events. Nowadays Facebook groups may be a way to find like-minded folks in your region.
For our Boating/Camping it was friends who invited us along and acted as true hosts. This was tent camping along a river and at first all we had to bring was a tent, sleeping bags, and chairs. It grew into bringing a little more gear to help everyone's weekend go nicer. And we always helped out on on or both ends of the trip so we'd be welcome back.
If you have "potential" camping friends with kids you can start easy with a KOA where the folks without an RV are in one of their Kabins. Or you can go somewhere where you can have both the RV and a Tent and put people in places that will assure a happy weekend (which may mean you give up your bed for a trip or two).
The other thing other's have mentioned is being at camping locations where your kids can help introduce you to other families. That means you probably should plan on staying around the CG rather than have big outings that take you away for the bulk of the day.
You can definitely do it, just try a few of the suggestions you've received.