Hi I camp with frame tent usually on my own with my girls and have been doing so since they were small.
I will admit the setting up with kids is a nightmare but I have found the following useful.
Upon arrival take them to the loo (to save them needing to go when you dont want to let go of the tent at that moment. Or make sure the potty is handy.
Save a pic nic lunch/tea mid afternoon/midmorning whatever with their favourite snacks and treats. Make a big fuss about it (upon arrival - surprise them, dont tell them before hand as all the car journey there they will beg for food). Put down a rug near to where you are pitching and let them tuck in. Keep it simple in tupperwares etc so you can quickly clear up any leftovers and save for later.
Bribe them that if they are good whilst you put the tent up they can have a packet of chocolte buttons, smarties, icecream etc etc. Use this as a bribe and reminder as you carry on erecting tent.
When the amusement of the pic nic passes move onto the little secret pack of colouring/magic painting books and new crayons/felt tips etc (poundstretcher is fab for cheap bits like this).
Find little jobs for them even when they are tiny ask them to pass you pegs, or if the ater tap is nearby ask them to fill a small plastic bottle of water for you regardless if you need it or not. The footpump and the blow up bed - even if you know they wont manage it - they will pump for quite along time before realising they are not getting anywhere when they are quite small! LOL
Other amusement games include count the tents, how many blue tents, brown tents etc etc
I also take a small bag of outdoor toys like hula hoops, throw the ring around the post. ELC egg and spoon etc etc. Things like this work better if it is new or not been out for a long time. I keep my bag of stuff like this JUST for camping, so it holds a good amusement and entertainment level for them.
Once they have been out the car for a while, you could strap them back in if needed (like when its raining). We now have the DVD player and small screens in the car. Not taken it camping yet but imagine it could have been useful when they were smaller.
Mine ar older now, so they get jobs to do and now we take the Swingball as well!
With regards to the tent. I would love a TT or FC but sadly DH does not share my passion for camping and refuses to spend shed loads of dosh on any equipment!