Welcome to Myswag Chris.
From someone who has been into camping from way back (and I'm talking over 30 years!!) - we started with a Holden panel van with a mattress in the back with our 6 month old son. Eventually collected bits of camping gear over the years but was still only driving by then a Mazda 323 station wagon with 2 sons around 10. Boys would sleep in the back of the car with the seats down while hubby and I were in a small tent. I do wonder how on earth we fitted what we needed in that car. haha Eventually upgraded to a twin cab 2 wheel drive Rodeo ute, which gave us more room for "stuff" - 2 tents by then.
Anyway, I guess what I'm trying to say is that you don't need the latest gear or the 4wd or camper trailer to get into camping. The kids don't care - they just love getting out there exploring and maybe doing some fishing or whatever.
Nowadays there is only the hubby and I left at home and we now have the 4wd and campertrailer but have no regrets of all those years of tent camping.
So, just get some stuff together and get out there with your son.
You'll love it and have no regrets I'm sure.
(Sorry this was a bit long winded. haha)
Cheers
Sharyn