When I first started camping, I really only had the essentials: a pillow, a sleeping bag, and a small one person tent. Just because you’re sleeping outside and likely in the dirt, doesn’t mean it has to feel that way. The whole point is to get outside and enjoy it so you might as well be comfortable in the process. I feel that it is important to mention that there really isn’t one “true” way to camp. Everyone has their own style so you should find what works for you because not everyone is a hardcore outdoor enthusiast who can head out with just the clothes on their back and a tent in hand.
When you’re setting up camp, picking a good, flat spot and clearing out the ground from debris should be your number one priority. If you don’t do this you may be in for a long night. It is inevitable that you will likely be sleeping at some type of angle so make sure you position yourself so that your head is uphill. If you’re trying to determine what size tent may be best for you, keep in mind that if a tent is sized for 3 people this realistically means it is comfortable for two people. If you are not trying to save on space, I always recommend sizing your tent up a little.

I personally lack an affinity for sleeping on the hard ground so when I have the space/capabilities I always throw an air mattress and a car powered air pump in with my gear. This can be a game changer for a lot of people and you can typically find everything you need for under $30 at most super stores. Other options to get yourself off the ground that may be better on space savings are compact cots or air pads that you can blow up to provide some cushion between yourself and the ground. Your sleeping bag will also make a huge impact on your comfort. The sleeping bag ratings are typically more of a survival rating than a comfort rating so if you get cold easily I highly recommend you invest in a lower rated bag.
To improve your general comfort, I definitely recommend investing in nicer camping chairs so you can prop your feet up and lounge around camp. Along these same lines, hammocks are something you cannot go wrong with and they tend to be pretty affordable. I’ve also recently started bringing an easy up with me that has detachable sides for privacy and weather protection which has been a game changer. You can also look into accessories to improve your camp cooking setup because being outside can always spark larger appetites than normal. I know I threw out a lot of suggestions, but hopefully this sets you on the right path to figuring out what camping set up will be right for you. If you have any other items that have improved your experiences that I missed, drop them in the comment section below!