MBB,
I had the kids come watch the video I did of that trip and told them we should pick our destinations for this summer so I can get on top of campsite reservations and everything. They are pretty fired up about it.
The other micro-camping adventure we've done that you might try is we loaded up our backpacks for an overnighter, and did the 2.5 mile hike (walk) to a friend's house and made camp in their backyard. They left the back door unlocked in case anybody wanted to use the bathroom. We made noodles for dinner on the camp stove, oatmeal and hot beverages for breakfast, broke camp and walked back home.
The point is it doesn't have to be the least bit complicated. Even if it's a campout in your own yard, it's unforgettable. Get it done before your kids don't want to share a tent with you. :)