5 and 8.....what an adventure trailer camping is for kids this age. of course once the teenage years arrive they will not want to be anywhere near the 'uncool' parents.
if you have a zip dee awning on the curbside, zd makes a 'room enclosure' that attaches to the existing awning. this is a big screened area with walls held down by water tubes. once attached, a tent could be erected inside this outdoor room. if the tent were placed on a slab of in/outdoor carpet having the kids roam inside when needed wouldn't be too messy.
depending on where you decide to sleep the tent could be placed near or far from the closest window. if they had their own "camping gear" like a flash light and cooler, that'd be neat too.
their are a variety of tenting enclosures that do attach to trailer walls and truck shell openings. i don't think these would be as nice as using the zip dee product, but imagine a homemade version could also be fabricated that'd be less costly.