As you already know, there are extra gear and stuff you need to bring to accommodate our little ones: sunscreen, bug repellent, life jackets whenever near/on the water, bottled water from home (no matter how 'safe' the campground water or how sparkling the spring water seems), pre-made and frozen comfort food just in case they don't like your camping food, a porta-potty, just in case, and wetnaps. And extra clothes.
We've taken our son camping since he was an infant (he's now four). One thing we did do was get a proper and comprehensive first aid kit, just in case. We also added kids band-aids. Some of the more 'uncommon' items inludes:
- glow sticks to wear around his next when it gets dark
- garden gloves for hiking to minimize slivers in the woods
- his own camping chair, flashlight, water bottle, backpack, cutlery to carry
- his own Motorola walkie-talkie (ours is good to 3 miles)
Our driving habits have changed too - no more 5 hours straight without stopping. Instead, lots of pitstops to pee, stretch, and play.