Only once. I accompanied my son to a Cub Scout camp out because my husband wasn't able to go with him.
It was OK. We didn't have any of the good camping equipment (just a tent and sleeping bags). If we'd had camp cots, etc. I think it would have been better but I didn't want to buy those things for two nights. It also rained quite a bit of the day, then the full moon came out at night. I woke up and could see the silhouette of a HUGE spider on the outside of our tent. I *hate* spiders. Then I couldn't go back to sleep for fear that spider was going to try to come into the tent!
My family went camping a lot when I was young, but not in a tent. We had a small camping trailer. That was a lot of fun, but I wasn't the one who had to prep everything for a camping trip.