I would be happy enough to go camping under the right conditions.
We go to 'wild' style sites, where the tents are miles apart from each other, often in woodland, you pitch where you like.
Kids are teens now, have their own tents, who is ever sleeping in a tent with a non household member?
We sit round the fire or under a tarp, not in the tent.
Washing up: wash up at your pitch. We often do anyway if the only facility is a cold tap.
The sites I like best have 'open to the sky' showers, an enclosure but no roof. So not stuffy and humid.
A bleach or soap spray for users to spray on the fixtures and fittings before and after use.
Toilets - often compost and with huge open gaps between the roof and walls - lots of ventilation, another soap spray for the door handles etc. Proper hand washing with soap.
You could cut down trips by using a loo bucket at your tent.
All the sites we visit could be made pretty safe for older kids and adults.
And I very much hope they will open up.