Took my kids camping and only one minor disaster
That's a win in my book. We went to a state park about 2 hours away, set up the tent together, did a campfire, made s'mores. My oldest (8) said it was the best day ever. One of us accidentally kicked over the cooler in the night but whatever. They fell asleep in the car on the way home and I got some peace and quiet. Definitely doing this again next month.
Camping wins are the best because you're basically just trying to survive and if everyone stays alive it counts as a success. Sounds like you and the kids had a solid time though. Those are the memories they'll actually remember.