I've gone out camping with some people a few times now, and while I've thoroughly enjoyed the experience, I've wanted to ask: how do you make camping less exhausting?

Every time I've gone out I've thoroughly enjoyed the experience, and haven't really felt worn out by it before I get home. A night in a tent seems like half the sleep than the hours it takes - six hours slept in camp feels like three, and every time I've gotten home I've needed a five hour nap in the middle of a day - which I usually don't ever even do - on top of a regular night's sleep, and a full day to recover, mostly eating and sleeping in bed.

I'd like to go on longer weekend trips than just one night, the kind where you go out on friday evening and don't come home until sunday night, but having to reserve a whole day just for recovery won't do if I wanted to do that. So how do I make myself more efficient in this? How do you get better sleep while sleeping in a tent, so as not to be completely exhausted after spending a whole night in nature?