A bathroom. Water. For me those two things qualify a camp spot as luxury. In the picture below I have everything I need. Trees to set up the hammock, a bathroom within walking distance, and water out of a tap. Luxury. Behind Lilith (the name of the valiant Toyota Tacoma) is a bench.
The comfort level that you need will be obvious to you during the first week. Then the level will change as you become more comfortable with fewer amenities. I can use the woods for a toilet, thanks to the book How to Shit in the Woods, 3rd Edition: An Environmentally Sound Approach to a Lost Art. Really. You can, too. For long term boondocking it was no fun on my knees, so I got a seat. That works even better.
You will mess around, get lost, be uncomfortable, get lonely, and finally find your comfort level. It is worth long term happiness to splurge occasionally. Put a splurge amount in your budget. Below is a splurge I loved.