We've car-camped for years. Started out with tents, and evolved to buying a van. For the second van, we cut off the roof and added a fiberglass van top that allows my DH to stand up in it.
Our comfort additions through the years:
- A blowup mattress fails regularly. So we bought a Qn size foam futon that folds into thirds. Easy to stow, and when unfolded, it fits snugly between the van's wheel wells. The cover is removable and machine washable.
- Sleeping bags that zip together, OR unzip completely, and can be used as sheet and blanket.
- Ikea has fantastic carry bags in which we shove our towels, or sleeping bags (one per), pillows, and wet/dirty clothes. They are sold as garage organizers, but they are perfect for camping. Google "IKEA Dimpa" - Amazon has them, too.
- We have three stackable clear boxes for camping/weekends away that have helped our prep enormously:
1) Our "camping" box (batteries, rope, camp ax, flares, oil, camping stove (yes to the propane canister stoves!), camping pots/pans, tablecloth for the campsite picnic table, butane fire lighter.
2) Our "kitchen" box - collapsible trash can, dish soap, sponge, salt/pepper, knives, cutting board, Ziploc bags, coffee cone and filters...
3) Our "jetski" box: spare water shoes, life vests, spray wax, towels, sunscreen, bug spray.
Each of the three is loaded in from the rear of the van, and are easy to download once we get there, so we can set up the futon and sleeping bags quickly in the dark. It also means that when we pack to go on a trip, we know what's in each box, and we don't have to take that box if, for instance, we're not camping, but renting a cabin.
FYI, our experience of campgrounds is mixed. Some have some pretty shady characters in them. One reason we went to a van is that we were at a CA campsite in the north part of the state, and some campers started shooting guns at night. We felt pretty friggin' vulnerable, and didn't camp again for some time. We later decided that private campgrounds, and campgrounds around active lakes were better - busier, and more hands on management. I would be hesitant these days to go super-remote. Staying within cell phone range feels comforting, even if it means we aren't in the back of beyond...