I've been camping since I was a little kid. Everything from the bare necessities- a wool army blanket and a case of beer, all the way to class A RVs.

The only thing that will work for you is trial and error. Bring a notepad or use your phone. But write down what works and what doesn't.

I got sick of setting up tents, so I built a bed in the back of my current vehicle. Much nicer than an inflatable pad on the cold ground.

Suburbans are large enough to sleep in and there are a hundred videos on how to make beds for them. Like Fromk says, get some camping boxes and start buying crap for them. The Coghlan's isle at Sportsman's Warehouse has a bunch of interesting thing to buy for cheap.

I have had several different kits over the years for different purposes and the contents are always changing as I find what works well and the junk I never use.