10 years ago when we were fit and did a lot of walking, we had a rush of blood and did Hinchinbrook Island with our 6 month old. I carried our daughter in a baby bjorn chest harness. I made a special no see-um mesh teepee that hung from a tree incase the sand flies were insane for play time. We took biodegradable nappies but didn't burry them, and she slept a little cocoon zip up carry bag thing we picked up at Aldi, bit like a large padded shoe box that zipped up. Mum breast fed and we plodded along. We had post card weather, as good as it gets Nth Qld winter temperatures, and to be honest it was a lot of hard work for little gain. Always stopping for something, dropping the packs fiddling with something. She seemed to get more sun than we wanted though she was covered top to tail, and after a week the sand flies get their way eventually.
Couple weeks ago we have just done it again on the back of cyclone Debbie, and if we had the rain back then like we just had then walking with a baby would have been a very different and disastrous story. Instead the 10yo and her 7yo brother had "another" time of their lives. Walking all day in the rain, crossing good flowing creeks, crossing flooding swamps and swimming in the back ends of estuaries or under water falls. Bagging Nina peak meant something this time, collecting shells, playing in the giant trees that hang over the beach, eating dehydrated food and carrying their own little back back was all good for them. The sand flies still had their way, but that's just how it is. And rather this time, with a little age on them it was awesome for all.
So back then after that walk took up car camping, or staying in cabins like Waldheim in Tasmania. Tents are bigger, can have a fridges, better lighting, more clothes, port cots, and so on, its just much much easier on you and to do day walks. A simple track walk for a swim in a shaded creek, or trying to chase wombats along the wooden decking through button grass its all a lot easier. The volume of nappies does not get out of hand, and we just stuck with the simple change mat on the ground anywhere, anytime approach. You don't have to focus so much on weather, but a brolly can save the day easily. We did Kosciuszko with a brolly, not for the rain, but the sun. The shade hood thing on a child carrying back pack is often wanting.
Its definitely easier the more chilled you are with what they are chewing on, or what they are getting up to in their surrounds. If your a hygiene natzi, or safety freak then the outdoors are going be stressful and challenging place for you. Not saying they should chew on wombat poo, or climb over a logs, but its not the end of the world if they do. We found its pretty much the same for them as it is for you but add a layer. Always having on hand warm clothes if its cold or could threaten, light full covering clothes if its sunny. Food, water, a plastic ground sheet to sit on, and away you. Your imagination or freedom to explore is all yours. Don't forget sting go's and panadol and just get out there and do it. None of it is easy, but its not also that hard. Its the ground work for the future you are working on, and our kids have proven a few times now nothing is going to stop our outdoor adventures. Your the leader, just always make it fun and have wow factor.