The operative word being, "if".
But yes, I hear you and I have always felt closer being in nature than I ever did inside a building setting on a pew. That is awesome; that you sleep outside. I haven't slept outside in years and years. Actually wouldn't feel safe doing it, even in the small town I live in. Camping, that would be okay but have not done that in 30 -35 years either.
I was raised on a farm and all these years later I still miss that life. There is a peace and tranquility that comes with being outside in the open, feeling the wind on your face, the warmth of the sun. Hearing the birds, (thank goodness for my hearing aids)!
Getting old is not for sissies!
On the song, strangely enough, I don't remember ever having heard it before, but I should have in my life span!