I have always resisted car camping or AKA Glamping. But to get family members out and now a new puppy, I have to compromise. I get what you're saying about immersion in the forest. I love hiking alone. Since I canoe camp a couple of times a year, I got the creature comfort kit established. One of our crew brings a rope swing and an eight-foot extension ladder to launch ourselves on the swing. It's a great toy.
I wish we could find rustic campgrounds closer to us. But, unfortunately, North Georgia is 5.5 hours away, North Carolina is 4.5 hrs., the Pacific Northwest is...a haul from Savannah. So that is why I asked the question.