The thread is not about that, but I personally believe that the camp will change with each act. Because in the first act, we literally sail away on a boat, we will no longer have the opportunity to return to the same place.
It kind of is though: The OP opens up discussing a stationary camp that the companions wait in.
My post is directed at the camp remaining stationary which is a key point of the discussion.
If it changes per region, that's all well and good, but it's still rather nonsensical. My party is exploring the underdark prior to jumping on the boat. Meanwhile the rest of my party and whatever gear I left in camp is still in the same location. The camp isn't moved to the Underdark castle or mushroom camp.
They also don't jump on the boat with my party. Am I calling them on my magical phone and telling them to break camp and move to the next region? Where do they get their boat?
The camp should be procedurally generated based on our party location, that way it's as though we have the main party of combatants and scouts, with the leftover companions following with the gear and camp.