What about tent camping? These days you really don't have to "rough it" if you don't feel like it. Those super-deluxe raised air beds are surprisingly like a real mattress, especially the dual-chamber ones (really nice if you're sharing the bed). Big tents are readily available and much easier to set up than I remember them being 20 years ago. Plenty of state parks and other campgrounds have excellent shower facilities (Indiana Dunes has nicer showers than I had in my old house!), and if you get an electric-supplied campsite, you don't even need to cook over a fire, just bring a hotplate. A few hundred dollars will set you up with some really nice gear, and it'll fit in your car (no gas-guzzling truck to maintain and insure).
I miss camping. We haven't had a chance to go in the last couple years, but we're hoping to get out at least once this year.