I think the questions of why Kyle would allow Kim to be on the show may also indicate why Kathy Hilton wanted nothing to do with appearing on the show. As much as the Hilton's world revolves around Paris, it make more sense to me that she would not participate out of concern for Kim's participation than the rumors of her being mad the show wouldn't center around Paris. I'm not sure why exactly Kyle would go along with Kim being exposed to all of that. I'd heard that Kim was hoping the show would jumpstart her acting career. So maybe she pushed the issue a little?
Someone else said that they thought Camille came across better because she had good PR coaching. I agree. Being a Hollywood wife, she's had 13 years of training in creating a public image which may or may not reflect the truth. She even explained that she went to the Tonys because she wasn't ready to admit to the public they had split, so they had to portray a good image. She knows how to do it, and does it well.
As for Taylor - I think she came across bad, but I don't think she's as malicious as others seem to. I think she's a weird combination of being really concerned about what others think of her (she said herself she's a people pleaser) and being a bit oblvious to how her honest actions impact other people. I think she makes comments to make herself look good, and she's so concerned about that she forgets to think about how the other person feels hearing it. I don't think she's evil as much as she is so overly self-involved that she's oblivious to others feelings.