Is this car camping, or backpacking? Different circumstances = different advice.
I am in California, where you can't carry a loaded gun unless you have a concealed weapons permit, and then it has to be concealed [no 'printing', for example]. My understanding is that this is true in the backcountry also.
However, California has a provision that your sleeping location is your 'temporary home', and you have can have a loaded handgun there. This means, generally, in the tent. Not on your hip in the camp site itself. That said, there are campgrounds that don't allow firearms at all.
For all of these concealability issues, I decided to go with a 4" GP100, loaded with HSM 180gr round-nose flat point gas-checked Bear Loads.
I can use a shotshell for snakes on the first round. I can have speedloaders with a 125gr HP or 158gr HP for 2-legged threats. Or I can have a speedloader for the 180gr bear loads. I keep the revolver chambered in the round that I am most likely to need, based on my geography.
Around here, it is usually 2 legged critters I worry about, so the first 3 rounds are designed for them, followed by 3 180gr rounds in case of Mt. Lions.
In the northern parts of the state, or when visiting relatives in Idaho, I wish for my SuperRedHawk but keep the 180gr rounds in the chambers.
Yes, there are only 6. I can only have 10 rounds of .357sig or 10mm.
Yes, the 10mm seems to have the potential for the same power in bear loads from buffalo bore as the .357Mag does, but with 4 more rounds.
However, the 10mm Glock doesn't fit my hand right: it is too large. Also, the 10mm kick is harder for me to reaquire the target from than the .357mag. This is MY issue. I am not saying it couldn't be trained out of me, but I can get more aimed rounds on target with a gun that I can control in my grip, and control the recoil of, than a gun with more rounds that feels too large for me to control.
I honestly would only consider .357sig if 2 legged threats or coyotes were your concern. Bear or Cougar I'd go with a magnum round, or 10mm.
It all depends on what type of camping you'll do. I wish I could hike freely with my SuperRedHawk on my hip. I'd have to carry 4 canteens on the other side for balance, but I'd never feel underarmed!