Don't think of it as all or nothing. Married, 2 kids both out of college, one @ home. All my tours have been 3-5 days. Do an over nighter on a weekend. The kids are young enough, got a trailer? Try camping hub and spoke tour. Go some where and set up camp. Do a family day trip, go back to camp, repeat. Get a trail a bike for when they are older. Start there.