We’ve been camping with our 3 boys since they were babies.  We use a buddy system if they leave our site.  Since they were raised camping it seems like some of issues (don’t play with fire, respect stoves) seem to be areas we don’t talk a lot about.  Have a good first aid kit- if I failed to bring Benadryl- kid will get an insect bite.  Recommend tweezers, bandaids, ibuprofen, sun screen, bug spray.  Bring something kids can do at picnic table while you are engaged in camping activities.  Have fun!