We are taking our 1.5 year old for the first time in a couple of weeks.  We chose a backcountry location that is only a mile walk in from our car and ten miles from a hotel in case we have to abandon ship at any point.  I think our expectations are fairly low for sleep but think it will be a great experience regardless.  Have you had them hiking yet by any chance?  We kind of started there and made sure he was good with being in a carrier.  Now that we know he loves it, it feels like the right time to try a tent camping trip.  It definitely won’t be an ultralight gear sort of trip.  Good luck, I hope you get your kids camping soon!