Well, speaking from my experince, I can never actually feel if I have camel toe or not. However, many times I'll walk past a mirror when I'm wearing little cotton shorts to bed, and notice that I do have it.
It really doesn't bother me, its gonna happen, there's nothing I can do about it, so I generally just don't think about it. If I notice it, I'll adjust, but I don't let it get to me all that much.