DH and I do a combination of all the above. As a child my parents took us kids tent camping all *over* the lower 48...only 2 states we didn't camp in; CA and NY.
Our kids are all grown and off doing their own thing, scattered to the four winds due to careers, etc. DH and I camp to get away from the routine here at home. We have a couple that we call "our family by choice" rather than "family by blood" that we camp with often. It's that sort of friendship that just clicks into perfect place from the git-go. When we camp with them we'll often do day trips. Example: camped at an RV resort for T-giving in Hot Springs, Arkansas. We did a day trip up to Petit Jean Mountain. It's been at least 20 years since I've been there. Lots of changes, to be sure. Ate T-giving lunch at the lodge up on top of the mountain.
Sometimes DH and I camp just by ourselves. We may hang out at the site all day, and I'll do lots of walks with Fred...hit a few hiking trails. I wasn't sure DH was going to take to RVing as he's such a Type A personality...two speeds; 1K MPH and sound asleep. Did my heart a lot of good the first time I caught him napping in the La Z Boy.
For those trips we'll just go to a state park that's about 30 minutes away.
We've done a group camp with wmtire and his geo caching friends, even did a couple of "hunts"....GREAT folks, great time around a huge fire, with lots of stories being told.
We've taken one long trip so far...up to Pigeon Forge, TN for 10 days total. For that trip our V-Lite was pretty much base camp...a couple of down time days with a fire, adult beverages and visiting with fellow campers, but mostly day tripping, even over in to Cherokee, NC, took in a couple of dinner shows, etc. One day we just headed out driving, found a ridge line in the mountains above the RV park and drove it until it took us back down MILES away from where we started, fired up the GPS and leisurely found our way back.
For us it's not about adhering to a schedule. Whatever happens, happens. It's about down time to recharge our batteries. Yes we have our cell phones, but we're selective with which calls we accept. It's US TIME, and breaking our daily routine.
We've pledged to prevent this camping thing from becoming "work" or a "chore".
I guess it's kinda like the way I describe being empty nesters: We do what we want, when we want, IF we want.