Every single time I go camping, I fail at something. But I love it, so much. Where we were camping for the last couple of years, we built an outdoor toilet area. Granted, it was just a bucket with the bottom removed, a pool noodle cut to fit the top for comfort, and a tarp surrounding the area for a bit of privacy, but it made all the difference.
I adore being out under the stars, being able to see the moon while I drift off to sleep. Our tent is huge (I'm claustrophobic, too) and has a topper that can be removed so you can stargaze.
I had to chuckle about you waking up to a deflated air mattress. I don't think I've ever gotten a full night out of one, even brand new! It's still worlds better than sleeping direct on the ground, but not so much when you have to struggle to get up! lol
I'm so glad you took this trip. It sounds wonderful.