Nope, we started when I was about 25 (I am 41 now). We tent camped a couple of times per year. When I was 36 we decided to get our butts off of the ground and bought a folding tent camper. Our kids (Now 16, 13, and 9) have grown up camping and love it.
My wife, who comes from a non-camping family, loves loves loves camping. She usually plans and preps our trips while I work.
I would suggest renting a camper to see if you like it. Purchasing a ton of stuff is a large investment and you may not enjoy the experience. I know several families who spent a 1,000 dollars )or more) on tents and equipment and who went camping exactly once. I also know several who loved it so much that they have upgraded their equipment every year.
The other thing is to make a commitment to try several outings before you decide if you want to continue. Everyone's first trip is a nightmare. It takes several experiences to determine your own routine and likes/dislikes.
There is no experience in the world like sitting around a campfire with friends and family, listening to music and chatting, until 2:00 in the morning.