Start with car camping, and use a sleep set up like an oversized sleeping bag. Plan to share with the baby because my little ones always get cold camping. (Doesn’t help all the good spots locally are over 6k ft). Or start sharing your love by day trips to good picnic spots.  You don’t have to start super early.  My oldests first camp out was in the backyard at age 4, and by dark she was ready to go back inside to her bed.  My 2 yo has not made it sleeping by himself yet and always shares my bag to stay warm.