Sturdy/stable and hard wearing? I’d recommend a Cabanon canvas frame tent – mine is still as new after lots of years of lots of use, and even though it’s a frame tent. it’s actually easier to put up on my own than some of those nylon jobbies. Of course they were very expensive – and I’m not even sure what they make these days, I’m just doing the “this is what I’ve got” thing!
I use an airbed if car camping, but you need to put one of those thin foam roll up mat things on top otherwise you will get cold and condensation will form. Oh, and if for two, have two single airbeds, doubles are crap.
Essential item = hot water bottle! Although when cycle touring I’d use those hot hand warmer pouch things.
Basic list – tent, chair, table, cooker, kettle, frying pan, plate, dish, cup, cutlery, torch, bed, sleeping bag, hot water bottle, water container. When you decide you like it, you can add the luxuries.