I highly recommend a really good tent that’s quick and easy to assemble.
Just went camping with 6 other families. We had a very nice 4 person typical height Kelty tent for us and the 2 kids, as did 3 other families. 2 families had tents you could stand up in. Believe me, that is the way to go. They weren't much more expensive than ours but worlds better for sleeping and hanging out.
A hitch mounted cargo platform is nice for hauling what doesn't fit inside the back, like the cooler, a sturdy locking box with camping stuff, bicycles, etc... These aren't great if you are seriously off roading, but for camping they're fantastic.
You asked about upgrades to the truck though. Depending on where you live, ceramic window tint is critical, especially with kids sleeping in the back in carseats. After tires I'd think about sliders more for side impact car crashes than off roading. If you are in deer country, a front bumper with the radiator protecting hoop is more of a need than a want. The weight of the bumper means springs and shocks usually. When you do the bumper you might as well put in a winch or you'll have to pull the bumper to put it in later, unless you dont really do much advanced off roading. After that the difference between want and need depends on your actual use of the truck.
EDIT: a group 31 battery upgrade is nice when the factory one dies. We get a lot of use out of an inverter, extension cord and led lights when camping. Red tinted bulbs don't attract bugs. A string of red led Christmas lights at dinner time is pretty handy. One of the 4 foot led shop lights from costco and some string to hang it from is great for setting up camp in the dark, etc...
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