I strongly suggest you teach your horse to hobble and stand tied at a high line. Camping will require the horses to spend a lot of time in both.
He should be comfortable with normal trail ride types of behavior. Such as you putting on a coat or poncho while in the saddle. You'd really hate to go for a wild ride on a spooked horse with your arms behind your back trying to get into the sleeves of a coat. Also if you lead a pack horse. The rope will get under his tail. All saddle horses should be comfortable with a lead rope getting under their tail and with the ponied horse being right on their butt.