Haven't been to Camden myself but Bankstown is easy enough, if you arrive IFR they'll help you in, as always just tell them you're unfamiliar. Just check the ERSA first as the arrival altitude (ie circuit height) changes depending on which runway is in use, that is one that catches people out.
There is a very convenient "Terminal" at Bankstown that your friend can wait in if they're there for a short while, but it's not exactly comfortable, no Aircon or other facilities, just a few seats and a toilet but you can park directly outside it and pick them up without any hassles then be back on your way out.
Of course if your friend can get to Camden easily enough then that would save the extra bit of flying and therefore possibly end up cheaper? But convenience wise for them I'd say Bankstown would be your better option.