We stayed at one KOA, thought it was quite expensive. The rest were just any campsite we came across. We have a tent, two little self inflating air mattresses, bag with rain gear, clothes for two, a few other little odds and ends. Two sleeping bags one a thin fleece with nylon shell and the other one is down. If it was hot at night the thin fleece goes on top, and a cool evening down on top. Oh yes some tools,,, just in case. Not a lot of room for anything else but we are comfy and enjoy the ride.

 

I did two camping trips this last summer, which was my first attempt at camping with my bike. Here are a few things I learned.

I packed so much stuff, I could not have accomodated a second person.
Food took up too much room. I converted one of my saddle bags to an ice chest and the other just held kitchen items. I would forgo all food except for perhaps snacks and coffee in the morning. Eat at cafes.
Cheap tents are small but can't hold up to the elements. If you are only fair weather (light rain) camping, they are OK. Otherwise, buy one that can take the elements.
Air mattresses are a must (IMHO). I put a cigarette adapter on my battery charger plug (lengthen it to stay in my windsheild pouch (I charge my iPhone during the day). The pump ate up 12 amps so I had to up the fuse in the battery charger cable. There were no issues.
Setting up and tearing down everyday was a drag and takes about an hour on either end.
I brought a cheap folding chair. It was worth it but again, ate up room
I am tempted to buy a trailer to alleviate all the issues. We'll see.

 

Personally, my experience with an air mat one trip was enough to make me buy a foam self-inflating 2"x25" unit. No comparison. As for food, you have to pack the right stuff and you'll still be crowded. Learn from the backpacker websites. Stuff like nuts, MetRx bars, powdered milk pack a lot of good calories in a small space. Crap like Ramen noodles are just empty calories and a waste of space and time. Dried fruit and veggies lighten the kitchen since you add the water in camp. I take beef jerkey along, but you have to be careful about moisture getting to it: it molds in one day.
I got a 3 man 4 season tent with dual vestibules off Fleabay for $145 or so and it's just big enough for me and the wife when she comes. The vestibules are how you make room in the tent, by putting your boots and gear under the flap outside. We actually have a little room between us. We overloaded the Heritage at about 32 lbs. last trip with all this gear aboard - the pic doesn't even do it all justice:

 

If you're going to ride 2 up with all that gear, pull a trailer. You don't want to be a thousand miles from home and go down in a parking lot because your bike is top heavy.

 

You could buy your wife a bike to ride then you would have double the packing space!
But really, on camping trips I always go with buddies so we can spred out the camping gear on each others bikes. The one we always remember is one of our army ponchos and bunji cords, small and they dont take a lot of space. Works great for covering the riding gear outside the tent or sleeping under if its a nice night. We also have gortex rain covers for our sleeping bags, if you feel like ruffing it with no tent for a night or two?

 

Took a month off last summer and went cross country. From NC to the Pacific. Stayed at State Parks mosta the time, a few nites in a Hotel along the way and a few Comercial Campgrounds too. I packed pretty light:
An air matress and a battery powered pump, an REI sleeping bag (with a compression bag) and an old 2 person Coleman Tent...I slept like a King! MRE's (with the chemical heater included) are pretty good, and compact. A small colapsable cooler that strapped to my tourpack under tha cargo net was a must. I found I could always get enough free ice at Fountain Drink Machines when I gassed up to keep things cold. A small propane stove, a mess kit and a chair, and 2 canteens.
I ate mostly at cheap diners, or fast food joints for a late breakfast/early lunch. Tried to have snacks on hand for mid day & usually grabbed something simple to cook up or eat cold at the campsite for dinner.

 

The wife and I have camped all across the country, and have found that the state parks are usually the cleanest and best kept campgrounds. I avoid KOA's unless there is no other choice, since they are more geared towards the motor home crowd and often you have to pitch your tent on a concrete slab. They do have nice showers and laundry facilities though.

Most of our camping gear is designed with backpacking in mind, packs small and light weight. If you don't plan on cooking any meals I would recomend carrying at least some kind of snacks, granola bars, nuts, etc., and water.

As someone else suggested, riding 2-up on a bike doesn't leave a lot of room for camping gear, so pulling a light cargo trailer can be a big help.

My wife rides her own bike, and that more than doubles the amount of stuff we can carry.

Here's a site dedicated to motorcycle camping. Not real active, but a lot of good informatin there: www.motocampers.com

 

I camped at Sturgis, It wasn't that bad at all. I did end up buying an inflatable mattress and a real pillow after the first night. Not that it would have mattered anyway, When I hit the pillow, I passed out anyway.

 

If ya don't drink or party, other conditions need to be right, like tent, bag and pad. As for campsites, I only need quiet and a water supply.

 

I just read all of the threads you referenced. Great info! I still need more experience, but before too long.....