Six Years ago I went on my first overnight, 370 mile round trip, motorcycle trip
Less than two weeks later I did my first 1,000 mile trip to Montana. All Solo.
I was riding in leathers that didn't fit me properly, the cheapest helmet I could find with a DOT sticker, and $80 Leather Saddlebags from Amazon that I had to line with Trash bags to make them waterproof.
My "camping kit" was a cheap Walmart Tent, a tarp, an intex air mattress, and a surplus army sleeping bag that was bigger than a 30 liter dry bag when it was rolled up. All in all under $70 worth of gear.
It wasn't ideal. I didn't have the perfect set up. I was not comfortable. But I got out there, and I did it.
You don't have to have the best riding gear, or the most comfortable and lightweight camping gear. Those things come over time.
What's important is that you get out there and you do it.
How are you supposed to know what you need to be comfortable if you don't go and do the thing?