When our youngest two were nearly four and one we went on a month long camping trip across the western US. We had a Nissan NV 3500 passenger van with a roof top tent and a set up that I made with a full size bed in the back that could be converted to couches along the back with a table in the center. The whole setup was just high enough that you could slide extra long milk crates below it, so everybody had a milk crate for their clothes and stuff, we had one for shoes and stuff, and one for camp kitchen stuff, etc. Once we got our rig ready, we headed west without any set plan (this was right when everything was starting to shut down due to covid). We went where we felt like going and didn't have to hold ourselves to any sort of schedule. It was one of the best experiences of my life. Kids will adapt to anything you throw at them. The question is more about if you can do what you have to do to make it work.