If a tent is not comfortable enough and an RV seems like a bit too much, a pop up camper may be just the thing for you. Pop up campers are usually on the smaller end, but even the smallest can usually hold 4-5 people. The fold up into a size that is manageable for even most large cars to pull, and they pop up into a room tall enough to walk through with a couple mattresses. Many have a sink that you can hook up for running water, heaters are available, and they usually have a table inside and electric lights. Some even have a restroom, but since they are so small you'll have to decide if you would like to effectively sleep in the restroom. If a restroom is a priority (which in my experience for someone wanting a pop up camper over a tent, it probably is), I'd recommend just getting an outdoor camping restroom that you can set up. There are some good ones here.
Most pop up trailers are pretty easy to pull and set up. It's best to have at least 2 people, but many can be setup and taken down by just one person. The sides are both hard and soft (since the canvas sides fold down into the outer shell), so they have a more tent like feel than a full RV would have. You can still hear the night sounds as if you were in a tent.
Pop up campers (or folding trailers, camping trailers) can be a great way to go camping and a great way to get someone to enjoy camping who doesn't like to sleep on the floor. They are easy to use and they're a lot of fun.
A few tips before you go camping with a pop-up: