We staied at Halali, Okaukujeo and Dolomite, with children I would choose Okaukujeo, it's the biggest one, lots of space to run around, big pool and the waterhole close by.
Halali was nice but the waterhole is harder to reach very uneven climb over rocks because of that you have fewer people there, but you need a flash light if you go after dark, don't remember the pool there.
Dolomite was my favourite, the pool is small but fabulous, the down part you're not allowed out on your own after dark because this camp is not fenced in like the others, so you always have to call the staff to get to and from dinner in case it's getting dark, not really space for kids to run around, it's one long way from the reception to the last chalet and these little golf carts go up and down this little lane with guests and staff.
I always would book Dolomite again if it fits with my travel plans because you get to see the western Etosha which is quite different to the eastern part, but animals there are not as used to cars so harder to spot.