She’s far likelier to listen to you, and respect your questions and suggestions, if she feels like you’re listening and respecting. So do explore alongside her.
Your kids will probably handle camp the way they handle other experiences. If one of them is often anxious or shy in new environments, that will probably happen this time too.
I need to be very honest here: I’d be one of THOSE people. So I’m struggling with how best to answer your question.
Maurice Sendak’s books — classics now — show children wrestling with difficult emotions, and they challenge adults to embrace high adventure.