I like the way P:K handles it - about the right amount of complicatedness.
I second that. You have a cook, a person or two on watch, someone gathering supplies/hunting, someone using whatever talents they have to help out wherever they can... The chance for random encounters and such... Chances for success and failure all the way around... Just about exactly the right amount of complication.
Basically the only camping decision I make each rest (in other words, the only work I have to do besides hitting the 'R' button) is to choose the meal. Which is optional, and defaults to the last meal you cooked if left unchanged.
This decision involves tactical thinking which is nice. Do I expect to make a lot of skill checks today? Or go against enemies that will cause Fort STs? Or do I just want all my party members to go fast?