You mention possibly trying hammocks. This is a fantastic idea. They are very versatile, adjustable, and you never have to find a flat spot to set up - ever. I converted to a hammock several years ago and it was one of the best decisions I made. It takes some getting used to, and you must never forget to include bottom insulation (even if it is in the 70's at night - you need insulation below!). Hammocks rock for camping. I have a Warbonnet Blackbird, double layer. I researched them for a while and pretty much came to the conclusion that these were regarded as the cadillac of hammocks and a lot of people found there way to them after trying others. There are other options, but keep the following in mind:
1. You have to have a full bug net if you want to cut back on the "critters", just like a tent.
2. You need bottom insulation. If you camp in cool temps you need a lot of bottom insulation. HammockGear makes some real nice down underquilts. I highly recommend them. I have a 20deg full length, with the most over-stuffing they offer. It has worked for me down to the single digits to teens, though I wouldn't want to do that routinely - cold spots. The insulation worked well last trip with temps in the 70's at night and humid - I had a light fleece liner as my "sleeping bag"/top insulation. It worked well in the hammock.
3. Suspension options vary. Straps are the easiest. Whoopie Slings are lighter, but a bit more complicated. I have the rope to convert mine to Whoopies but haven't made the cross over yet.
A few thoughts about Zaleski -
1. For your first trip sticking to the south end would be a wise choice. Cut through on the bypass trail. There is a 200ft descent from 11 to G on the north end, then some more elevation to get to camp H. If you take the western leg you won't have quite the elevation, still some up/down, to contend with but it is longer.
2. King Hollow Rd is a viable option if you have to bail for what ever reason on the south end. Keep in mind, though, that it is open compared to the woods so if it is warm at all when you go the road can be brutal with the sun (no shade from the trees). It is also infrequently traveled so running in to vehicles out there may be hard to come by.
Rt 278 is also a viable exit route as well. This road is heavily traveled. You have to be careful as motorcycles and sports cars like to fly through there. If you hear traffic coming - get off the road a ways as a precaution. Be especially careful of blind corners.
3. Water is not easily found on the trail. In dry periods the bottoms of the hollows/ravines/canyons can be dry also. In wet periods you may find some water down there. If it isn't flowing I wouldn't use it.
4. Camps D and H have a cistern at the entry to the camp trail, across the main trial from the entrance to the camp trail. The park service does a decent job keeping these supplied. I haven't been out there without there being water there. Though, I wouldn't go without a back up plan to filter somehow. The Sawyer Mini and Sawyer Squeeze filters are good options - google ways to convert them to gravity filters. Lots of slick ideas.
5. The bypass trail has some really neat scenery on the eastern end with some rocks.
6. One of the camps, I think it is D, has forest road access. There used to be car camping groups that would go out there and pack the camp sites. I am not sure if people are still doing that, but it can lead to over-crowded camps. I've been out there before at times where I had to set up camp down the main trail because it was so crowded. Not much you can do but set up and enjoy.