We started camping early with our kids (as soon as they could walk, really). Started hammock camping with them around the age of 5. They do great at it.
There's always gear considerations, etc. But, the best single piece of advice I received when starting out and that I'll pass on now:
Do lots of backyard campouts. Start by sleeping in the backyard right next to them (in trees, if you're lucky enough - or hammock stands). Then, maybe even come and sleep just inside while they're out in the hammocks. Doing so helps them begin to feel comfortable being outside in the hammock. Once you've done that enough times that they feel used to it, you can graduate to a camping trip.
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