We have a trailer tent, so similar to a folding camper. Having camped 'properly' for eeons, it did take a bit of getting used to the trailer tent, there are a few differences.
We don't have a carpet, occasionally if it's cold, we use 2 very large picnic rugs but we have found the awning groundsheet a little thicker and therefore quite warm.
The whole tent is bigger, so it can be much colder than a normal tent, plus there are gaps where drafts get in. However, you can cosy in an area if needed at night.
We have fold out beds and I have found them as warm as sleeping on the ground (if not warmer?). But our mattresses are quite thick, so maybe something to check.
We're able to keep a lot of stuff in the trailer, both big items like tables/kitchen unit and small like gubbins. This has been our main difference, on a camping trip we now just* pack clothes, sleeping bags, food, a few bits and bobs and head off. Likewise on return, not having to put camping stuff away in loft/cupboard is awesome.
We bought a few bits to keep in there- it has almost been like kitting out a second home. But we do use it a lot 5-6 weeks at least every year, so useful to have stores or washing up liquid etc left.
*I say just, still takes hours to pack!