The missus and I met each other in the army. The camping we were doing was not what your average 4WD person would typically do. It normally went hand in hand with a good deal of no sleep, running around like a blue @rse fly, sleeping with your rifle, someone barking at you if you did something wrong, all this in the middle of no-where with nothing of note to capture your interest. Although I did see a lot of Queensland, would they have been camping locations of my choice, no. After leaving the army, it took a good many years before I could convince SWMBO to go camping again. Started tenting again around 15 years ago, finally moved up to a camper last year. Been to a mixture of national parks, caravan parks, free campsites (Martin's Bend at Berri, its fantastic). If I've learnt anything over the years, the more comfortable you make yourselves, the more inclined you will be to get out there and have a go. Each type of site requires different levels of preparation. Do you take the ensuite tent and water heater or not, and so on.
Since buying our camper we have done more as a family together than we did in the 8 years that I owned a ski boat. It's much more affordable to go camping. We can go anywhere we want (within the limits of an FG Falcon tug), we can go year round (unlike skiing which is limited to warm months) and the best thing of all, we're loving it.