I used to hate it too, but I think it's about having the right clothing and equipment.
I actually don't mind it know, and it does give you the opportunity to spend more than a short day in nice surroundings going for walks or doing some other outdoor activity.
It was a combination of my best mate and the lady of the house who persuaded me it try it again.
I now have a 6 man tent (which I only let a maximum of 4 sleep in) with a tall and wide living area where you can actually stand up straight, get changed easily, play games, store luggage and generally live quite comfortably.
Having a 'pop up' tent is useful too. Literally let it out of the bag and it springs into a tent.
Then you need a decent inflatable mattress, good sleeping bag, heater, stove, pots and & pans, lantern etc, and then it doesn't feel quite so bad.
Quick dry clothing, decent walking boots and thermals and your all set.
Once fully equipped the cost can mount up, but I'd now argue its a good investment as you can have some nice weekends away with very minimal cost.
In fact, we're going hiking next weekend and are camping out and I'm genuinely looking forward to it.
As a kid, I bloomin' hated it!!