Can you get attacked while camping?

YES. So far, this can only happen randomly if you set up camp in Murfree Brood territory, around Annesburg and its surrounding woods. For the first time it happens, you’ll only get a warning from a couple of degenerate brood members. Once they attempt to leave, you should be able to kill them. For succeeding instances, you’ll be attacked without warning, always by two brood members. You shouldn’t have problems dealing with them once they leave.

This seems to happen only in the aforementioned region. You can camp in peace in other areas. Fortunately, you can’t get murdered in your sleep or attacked by wild animals when camping out in the wilderness. Your horse is also safe during this sequence.