We're just getting started with Thor and camping, and I'm sure I'll figure things out as I go along! Looking forward to reading these replies!
We added two new things to our 'puppy bag' for our first camping trip and both were useful. First, we had a separate rope leash with one of our retired climbing carabiners to clip him into some of the tie down points on our truck. When we stopped for water/food/break we'd clip him in so we'd have our hands free but could still keep a close eye on him. He couldn't roam dangerously far from the truck when he was clipped in.
Here he is clipped into the line at a water/food stop. It was also useful around camp when we were working on camp tasks but didn't want to confine him to the crate. Next time I'm going to throw in a second, longer line so he has more freedom in safer spaces.
Second was a new doggy bed that is lightweight, portable, has an easy to wipe down bottom, machine washable, and big enough for him to spread out on. He spent most of his calm off-leash time hanging out on this bed, seemed to like it a lot. I like it because it rolls up into a nice portable little roll with a handle.