Arriving Saturday and leaving Sunday:
Friday night pack up trailer
Saturday morning wait around until distance to campground equates to an arrival time near the campground's check in time (varies but can be anywhere from 11 am to 4 pm). Hitch up trailer and load family.
Drive to campground. Setup camp.
Go for a hike or exploring, etc.
Come back to camp and relax for a short time.
Fix and eat dinner.
Enjoy a campfire or go inside.
Go to bed.
Sunday morning get up and fix breakfast.
Go for a short hike or exploring, etc.
Come back to camp and pack up to leave.
Leave by check out time (anytime between 10 am to 2 pm on average).
Leaving Friday:
Thursday night load trailer
Friday after work, hitch up and load family.
Drive to campground.
Stress a bit setting up as the light starts waning.
Fix dinner and eat.
Relax by the fire or go inside.
Go to bed.
Saturday morning fix breakfast and eat.
Play all day.
Relax in the evening.
Go to bed.
Sunday morning fix and eat breakfast.
Go for a short hike or explore.
Come back to camp and pack up to leave.
Drive home.
Unless the sleeping away from home is the purpose, two nights or more will always allow you to actually enjoy your camping rather than just doing all the work.