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I don't have kids (nor a wife), so I can't really give you much advice. But you sound much like my brother, who's been complaining recently how he feels so restricted by his new daughter and the whole domestic lifestyle.

I think that's just the reality of the situation. If your wife is cool with you taking a weekend or weeklong jaunt on your own, go for it. But personally I'd try and get your whole family involved. Yeah, visiting relatives can easily be not much of a vacation, or one at all. Would your kids/wife be willing to do a weekend camping trip? Or ease them into it by staying at a motel or lodge and doing day hikes? I think you may find it's possible (and even enjoyable!) to do the trip as a family. You get your outdoor exposure and spend time with your kids; it would also open up many options to do bigger/longer journeys in the future.

My bro and his wife are both cyclists - on vacation they take turns babysitting and go on solo rides. When feasible, I did my best to tag along for a few days and sometimes babysit so they could ride together. I dunno, just an idea.