We have a 7 month old Border Terrier, Goose (pictured because, why not?). We're hoping he'll be able to join us wild camping once he's a bit older. In similar vein to others we've opted to introduce camping in a manageable way.
During lockdown we have put one of our older tents up in the garden during the day and let him go in and out and investigate. He barked at it, attempted to dig into it and also attempted to get into one of the storage nets. But settled eventually. About a week later we put it up again and spent a night out in the garden. Again there was some apprehension, a bit of digging before he settled. We used our Thermarest RidgeRest SOLite Mattresses (another point for closed-cell mattresses) rather than our pricey inflatable Neoair Xlites to be on the safe side. We're planning on a few more garden camps to build up his tent time. Once we can have over-nighters in the hills again we'll be taking care, as others have said, and choosing safe, easy, short walk out spots to camp initially.
In addition, before lockdown we spent a night out in our van (part converted). Took him for a hill fort walk in the late afternoon before settling down for the night. The walk helped to tire him out and as we were using our camping gear (sleeping bags, mats, stoves etc) he got to witness all of that in the relative safety of the van as opposed to a billowing tent. He was great. A bit of digging at the mats but settled down quickly.