You may not have heard of Wadi Raam, but you must have seen it in movies like Lawrence of Arabia and Transformers: Revenge of the Fallen (where it was represented as Egypt).I went to Wadi Raam with my tour group and we stayed there one night to experience desert life and the Bedouin culture. We rode into the desert on Jeeps and also rode on the camels for a segment. We also went by the visitor centre which is located right opposite the Seven Pillars of Wisdom (the mountains in Lawrence of Arabia's book) and it has a good exhibition about the local fauna and floral history.
As far as sleeping in the desert goes, I think one night was really enough. It was winter time and it got really really cold at night. The tents that we had was basic but there are running water which was a blessing.