Not often enough! I used to camp regularly when I was younger and had access to the deserts of the Southwest and the mountains of the Pacific Northwest. But in the Midwest you're typically next to a muddy river and it's just not the same. We do however take the Grandkids out for a backyard campfire quite often and will be setting up the tent for summer sleepouts.
You are absolutely correct. People will be much more comfortable with their kits if they use them occasionally for camping. Having spent 10 years as a surveyor in Northern Idaho, (and a lot of it with a camp on site) I look forward to the Grandkids getting older so I can teach them some fun skills.