We, a family of 5, had some of our best camping fun in a popup when the kids were young. The girls loved sleeping in tents with their friends, my youngest son not so much. He's 32 now and still calls camping 'crapping'.
If you want to experience sitting around a campfire toasting marshmallows, many campgrounds also have cabins. Rent a cabin and a camping spot. Hang out at the campsite with your lawn chairs, cooler and firewood. Head back to the cabin to sleep. Or pitch a tent there. That's certainly cheaper than a new truck and trailer.