The sentence that could change into an interrupting appositive phrase is: "The highway we drove on to come to the campsite I realize."
You could rephrase it as: "The highway, which we drove on to come to the campsite, I realize."
However, this sentence feels incomplete as written because it lacks a main verb and structure that is typically found in a complete sentence. If you're looking for a clearer rephrasing, you might consider: "The highway, the one we drove on to come to the campsite, is what I realize." This format clearly uses the appositive "the one we drove on to come to the campsite" to provide additional information about "the highway."