When you feel comfortable, by all means take the kids!
There is such an awesome feeling falling asleep next to your kid in a tent.
I started my son hiking in a front carrier soon after he was born. I had a Kelty he rode in for a couple years on my back, and if allowed, in his jogger stroller. He was hiking on his own by 3 1/2. By 4 1/2 he was dayhiking 10 mile days.
I trained him to wear a pack from young. At 9 he thinks backpacking is normal. He has been backpacking around 40 times I would guess.
As for kids needing extra junk on trips: that only happens if you think you need all that extra junk. A kid can be just happy with a babbling brook, some rocks, and a stick. They can be just happy eating the same food you eat.
Diapers are an issue, but are handable. Always take 1-2 extra sets of clothing. Sleepers are good for little ones, as they wiggle. Down jackets work great as a mini-sleeping bag.
My only other advice is don’t solo with a really young child. Always have another adult (well, safety aside, you are carrying a lot of weight! So sharing is good.) And start with low miles and elevation.
And have fun!
sarbar