Our solution was to BUY a popup camper. They are expensive new, but can be reasonable used. A new one well cared for will last 20 years (not maintenance free, mind you!).
For four kids (maybe 5 in a pinch), a Coleman Sun Valley (aka Tacoma or Mesa) will fit everybody, offers furnace, portapotti storage, small fridge, dual king beds, a single bed/couch, mini kitchen and dinette. For family camping, it’s everything that’s good about tent camping and eliminates about 80% of what stinks about tent camping. If you pack light, it can be pulled by a minivan (lavishly modified with hitch, brake controller, trans cooler and weight distributing hitch). Practical budget used is $5,000 plus $500 in van upgrades (parts prices, double that if paying somebody to install them).
Sounds expensive until you see all the ways you save. The fridge plus an extra cooler make eating out optional. As noted, that’s a huge savings over hoteling it!
State or national park campsites are usually under $30 night. Often cheaper for sites with no electric hookup (use a $80 deep cycle battery to run furnace and sink pump).
Our minivan freeway mileage drops from 26mpg to 18.5. Not terrible at all.
Makes it possible to travel to places where other lodging is unaffordable. Check out hotel prices near Glacier National Park sometime - yikes! And of course the setting is incomparable.
All in all, you can start from scratch for about the price of ONE deluxe Disney vacation. Then you have it for many years. We’ve been to Glacier, Rocky Mtn, Telluride, Black Hills, Land Btwn the Lakes, the Smokies and dozens of places closer to home. It makes even long weekends into dirt cheap minivacation opportunities close to home.
As with any sort of camping, there’s a learning curve. Best to go with experienced friends a few times to learn the ropes. Web search “Popup Explorer” for a great forum on the topic. Or feel free to PM me for advice. I’ve been at it since I was 12 (a LONG time ago…)