I think you need to make some decisions, like how long and how far away will the camping trip be. Do you want a popup camper or are you looking at tent camping. Most state parks offer cabins that you can rent, which vary in amenities. For just you, your wife and young child I'm wondering how much gear you're wanting to take. Maybe consider cutting back?

Long ago I took our 4Runner to a state park for 3 days camping. We had a small tent and sleeping bags. I had a folding table and some camp chairs. The site had a campfire ring so we just needed some firewood. I have a Coleman stove and camp lantern, which are pretty much okay to be left outdoors. I also had a 10' X 10' first up fly to put over the table and chairs. We went for hikes in the park during the day, campfire at night, and had a pretty good time.

For several years I belonged to a scout pack, even after our son had gone through Webelos. I still kept the same gear although it was just me in the tent. I pulled a large grill and was the camp cook, but all the camping gear fit in the T4R. Other than that I've not had so much gear I needed a trailer or even put anything on the roof rack.