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As an Eagle Scout, I grew up camping, and became comfortable with the idea.
Everything that was out during the day is out at night including many harmless nocturnal life, and there isn't much more to fear.
Some personal tips off the top of my head:
>research the area before camping in it
>analyze the camp ground in the day time
>try not to wander into unfamiliar area in the dark
>set up bear bags in bear country
>try not to camp alone
>carry a flashlight
>don't panic if confronted with nocturnal animals (animals such as raccoons and bears are harmless unless somehow aggravated)
>have an escape plan