How to enjoy camping again

I loved camping all through my childhood and teens. Then something switched when I became a parent and now I get horrible anxiety when camping. Even if kids aren’t in tow. We love hiking and want to do some backpacking trips, but I need to definitely work up to it.

My biggest issue is at night. I struggle to sleep and get freaked out by every noise. I also have not been able to comfortably sleep camping as an adult. No clue why I can’t get comfy but probably a gear issue.

What are some simple steps I can take to get over this and love it again so we can go backpacking and do overnight trips?