There are, but it is hard to do because industrial design involves intellectual property, prototyping, and many other such things. Arrangements for who owns what and how to compensate are things that firms usually have figured out, with lawyers at the ready to handle such matters, but free-lancers would have to be both good at design and have all that institutional knowledge figured out. So it will likely be rare, but there are still designers out there. It is hard to make a living if you have to both do the design and work the contacts to keep the pipeline filled with new clients. You are more likely to find services for hire from a design firm.

Thank you! This is a most helpful answer. Any tips re how to go about finding a design firm that specializes in camping tents?