Another Scout Mom here -- the last time I slept in a tent was two years ago, at a Pack family campout. Now that DS is a Boy Scout, he likes to go with the Troop, and doesn't want any parents around to embarass him!
DH and I plan to take both DS and DD camping for a week this summer. The first time I slept in a tent, DD was still in diapers. Over the years we've learned a lot about how to be comfortable when camping. We have one of those screen tents to put over the picnic bench so we can eat our meals without too many bugs bothering us, and we have two large storage containers filled with items that are just for camping. One has all the "kitchen gear" like a cast-iron frying pan, plates, silverware, etc. The other has all our "bedroom gear" like air mattresses, camping pillows, the pump for the air mattresses, extra blankets, towels and wash cloths.
I never thought I'd enjoy camping, but if you're properly prepared, it can be a lot of fun. The only drawback for us is that DH needs a Cpap at night for his sleep apnea and we haven't found a backup power source that will keep his Cpap running all night, so we have to find campgrounds with electrical hookups.