Tent. Pack the car full of blankets, buy stuff to cook on the fire, not a whole lot else.
The last time we went camping, it didn't go well.
My middle son had a med change that day. He just looked... weird. Took him to the campsite playground. He continued to say things that didn't make sense(moreso than usual). I didn't trust him to a point I wouldn't let him more than a few feet away.
Walked back to the campsite, and all hell broke loose. He started screaming, laughing, throwing random things in the fire(things that didn't belong in the fire). Got intensely violent. So bad I decided he needed to go to a hospital. Got him into the car, and he started trying to kick out the windows. Took him back out and called for help. Police came. One of the cops was able to convince him to go in my car(and not kick the windows), but the followed us to the hospital in case we needed help.
I haven't gone again since. (And I've refused ADHD med trials since, as well.) Was perhaps two years ago.