My kids are the same age and there's some good advice here so far. A few things to add:
-It doesn't have to be epic, just get out there. When my son was born we got a truck camper (so he'd be comfortable) and tried to go on huge 2-4 hour away driving camp to locations, because that's what I was used to before kids. It was TOO MUCH work to get everyone packed, there, unpack to have a good time. The next summer we sold the camper, bought a tent and went twice as much, just 10 minutes down the road. Kids love playing outside and a local state park, campground, woods, is just as wild to them as a vast wilderness.
- Don't bring all the home toys and games, we limit it to 1 truck and 3 books for bedtime.
- ALWAYS make s'mores. We're not big sugar/candy people, but I let them have one as a special treat, only when we camp.
- Pre made dinners/breakfasts are totally acceptable. We would even do a few times when we would eat at the house, roll up to the campsite for s'mores, sleeping, and breakfast the next day and call it a successful camping.
- If you can find another family that has a similar aged kid to your older, it will be so much more fun for all. They'll play together and it will actually feel like the adults can just hang out.
-The Kodiak will certainly be comfortable once set up but a lot of work to set up and break down. We've been happy with a 4 person tipi tent for ease of set-up tear down. My wife's not a big camper but has been happy with it.