Generic barbarian settlements.
I play with weird settings - 6 opponents, small map size, fledgling AI start (the one where they only have one city), max barbs (always 5 tribes), either the hardest or second hardest difficulty. To describe that specific instance
1) barbarian camp one city site away from my capital, Assyria's capital and Rome's capital (this was a much more cramped map than usual)
2) One of the AI's cleared the camp, although I am not sure who
3) I actually found the site relatively late (since I had scouted and settled in other directions), at least turn 30. I saw the Assyrian settler one years worth of orders away, I had no military unit within that range nearby so in my head conceded the settle to them.
4) Their settler moves around the edges of the settlement but not onto it
5) I march a military unit over to occupy the site after 3 years of Assyria not doing anything.
In other instances, I have noticed AI clearing camps but not parking units on those camps. Just like generally speaking. The above was the most unusual behaviour I'd seen. Based on your description was probably a result of the game settings I play on......