I think there a certain connection that comes through camping and the basic act of subsistence - a connection with the planet, those we have with us and ourselves. It strips away most of the complexities society dictates.
Your $20 tent sounds familiar to my early days, cheap equipment and not much of it but loads of fun. I know so many people don't like camping, some due to bad experiences, but I feel glad to be one who is good at it and enjoys it.
Happy camping!