Nope, it's not like that. Setting up a campsite just brings up a screen showing Marston camping and giving you options to save, change outfits, or fast travel. I don't know the difference between basic and upgraded campsites because I only ever used the campsite after I had upgraded.
When you set up camp it gives you options as far as what you want to do (save, fast travel,etc.). Once you make a choice Marston basically just kicks some dirt into the fire and you go on your way. Your "basic camp" is always a part of your inventory so you don't have to worry about going back to the same place.