J.,
We've co-slept with our two, with the 2 1/2 year old still in our bed.
What's worked best for us, was to bring our 8-man (two room) tent, with two queen-sized air mattresses, and two 2-person sleeping bags. (I think it's Coleman that makes a battery-powered air pump for this - that works GREAT.) The first time we tent-camped with them was when my youngest was 4 months old (oh, yeah - and she was a preemie). Hubby bunked with the older one and the baby with me for those frequent nighttime nursings. (For future reference, I highly recommend Pull-ups for this, even for those that are potty trained. I was determined to avoid finding a laundromat in the middle of the night, so we called them "campin' panties," and the 3-year-old went for it.) We're going again in a couple of weeks, so we may trade kids this time. We'll see. I know it's a lot of gear to haul, but we do the cushy camping. . . back the car up to the site with electricity and water. If you're going primitive, I won't be much help.
Where are ya'll headed?
Best of luck and lots of fun!
M.