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I use a Washburn R314KK as my campfire/travel guitar. It's small, light, feels solid, and is surprisingly loud for its size, unusually louder than my full sized Larrivee dreadnought. They're ~$500, there are obviously cheaper options but I feel like ~$500 is a reasonable threshold for a guitar that looks and plays great but isn't so expensive that you're too paranoid to take it camping or hiking. The open headstock has a steeper breakover angle at the nut which really improves the tuning stability, helps a lot if you're taking an acoustic into humid/fluctuating temperatures.
A good parlor sized guitar still sounds great and is small enough to lug around without getting in the way, folding travel guitars are obviously even smaller but if you're happier playing a solid traditional acoustic then parlor size is the way to go. Avoid classical nylon string guitars for camping, they're more sensitive to temperature changes and cheap builds might crack at the joints.
