My wife and I are at a "comfortable tent camping" level, and we used to do it a lot, not as much anymore. Used to go about 20 times a year, now maybe 2. We'll probably pick it up again once my daughter moves out. With your information provided, I will give some specific tips that fit us well, which focused on easier setup/teardown and comfort. On some trips we would set up in a new campsite every day as we went from 1 state to another. Note that some of these tips cost more money than you may want to spend. Most of these tips do not apply if you are hiking to a campsite.
-Get an instant tent at least 8x10. That will give you enough space to set up a decent sized air mattress (you have to leave space around the mattress - if it touches the tent fabric, the tent will leak) and have space for changing/playing cards/ whatever if it rains. Once you use the Instant tents a couple times you can set them up in 5 minutes with 2 people and take them down and pack them in 15.
Something like this:
https://www.walmart.com/ip/Ozark-Trail-Instant-13-x-9-Cabin-Camping-Tent-Sleeps-8/42120623 The more "square" the better. If you buy a Coleman, you have to buy the fly separately, and they are needed. A tarp can be used as well, but lashing it down can take as much time as assembling the tent, and it's more to carry.
-Get a "tall" airbed with a built-in pump. We use something like this:
https://www.walmart.com/ip/Intex-Du...ed-with-Built-In-Electric-Pump-Queen/55536358 The tall airbed will not transfer temperature from the ground as much, and if it gets a slow leak, you won't be as likely to wake up resting on the ground in the morning. Air mattress/cot combinations work well too, but if your tent has a bottom it can cause leaks, and the double bed and larger cots tent to break more, especially if you use the bed for more than sleeping in.
-Lodge cast iron skillets are pre-seasoned and you can use a deep skillet to cook darn near anything. But learn how to season one anyway, a well-seasoned pan is good for the kitchen too, and your great grandchildren can use it if you hand it down. I have one from the 1920's that is used every day at home.
-Try to find a campsite with A/C or bring an inverter or generator. It pumps up the mattress, charges stuff, and fix many problems for couples camping. My wife brings her Keurig for coffee...you can cheat once in awhile. And it's not much bigger than a percolator.
-Buy cheap plastic plates, utensils from Walmart and put your cooking stuff in a plastic bin. When you get to the site, use the storage bin to wash dishes in. When you are done, put them all back in the bin for storage.
-Bring tarps. Lots of Tarps. They will temporarily fix many leaks.
-Set up the tent in your yard before you go and spray it down. Let it dry, then do it again. New tents may need a wet/dry cycle to make them waterproof. It should not leak the second time. If it does, use some of this:
https://www.amazon.com/Gear-Aid-Waterproof-Sealant-Adhesive/dp/B000OR5PHW?ref_=fsclp_pl_dp_5 95% of the time it will leak on a seam, usually at the top. Buy some of the seam sealer even if it doesn't leak. It has to go on a dry tent, but still bring it.
-Bring flip flops, especially for her. The showers can be nasty on the feet, and it's good not to have to put shoes on for a bathroom trip.