We try to give the kids as much variety as possible. So far, this includes: Back-country kayaking, backpacking, ocean beach camping, lake beach camping, mountain camping, deep woods camping, flat land camping, large campgrounds, small campgrounds, dispersed sites. We go a different direction every year (following compass points) so that they have experiences from Northern Ontario down to the Gulf of Mexico. The only thing we can't do is go to the West Coast - limited vacation time prevents us from going much further west than SD.
Doing this, and having three kids, we've found they have different preferences. While they all enjoy all of it, kid 2 particularly takes to the back-country stuff, while kid 3 takes to the larger campgrounds with other kids more, etc...
