We fairly recently got a motorhome which we took away for our first night away the other day. The kids (aged 3.5 and 0.5year old) absolutely loved it, the older has a bed over the cab which she thought was brilliant - the best thing about the holiday for her was that she found a light and curtains for her bed.
We only went for the night and that was enough for the kids to get what camping was about and have fun, but it was short enough that the sleep deprivation isn't going to ruin the rest of the week!