Don't feel too hard about it Scott.... I participate in one of the Yamaha TW200 forums and there's a couple of guys on there that run those little 200's Waaaaaaaaay up into the lost wild country and just pitch a tent. They've got videos of some of their rides and I'm so envious I could die.
This is the extent of my tent pitching:
... and I feel no less than kicking up the heels after a fresh, soothing shower and frosty beer in hand thinking about tomorrow's ride after the breakfast.