Glover's students rely on one put out by the National Outdoor Leadership School when they trek through the wilderness. It takes a little practice to set up, but learning new skills together can be part of the fun. More important than the kind of shelter campers choose is the place they choose to set it up. It doesn't really matter what's underneath once your tent is up. Don't go to the untouched place 20 yards away because then you've just spread the impact further.
Recovery time depends on the area.
But in alpine areas, it can take years and years. Here are some other tips that regular folks can use to lessen the toll their camping trips take on the environment. Stay on the trails, even if they are muddy and wet, and walk single file in the center. At your campsite, wear moccasins, sneakers or other lightweight shoes to lessen soil compaction. Save dishwashing soap for home use.