As mentioned, the physical size of the TT will limit you to where you can go boon docking. There are TTs that are raised to give a lot more ground clearance, but we found the height of the trailer to be the main drawback. That said, there are many state campgrounds that are well off the beaten track and easily accessible by just about any rv including medium sized motorhomes. The more popular federal campgrounds..ie: yellowstone, yosemite, etc...are extremely popular and plans to visit have to be done months in advance...sometimes years.
Our three girls all loved camping, hiking and two out of three...fishing. They accompanied us up until they graduated from high school and went out on their own....and sometimes even after that. Camping is a GREAT way for families to interact with each other and allowing us (the parents) to participate in their every day life. I commend you for wanting to provide this experience with your kids.
Your trial run with a rental will help you to answer most of your questions and help you to decide if this is the way you want to go or not.
That size TT is perfect for your Tundra...just keep in mind that it's not the "towing capacity" that is meaningful, its the "payload capacity" that is the kicker for 1/2 ton pickups. Also, if this is the way you decide to go, research weight distribution and sway control devices.
Good luck in your quest..
Ron
