While each of these answers are certainly appealing, I believe having the kids along, being city guy, etc. should be taken into consideration. It will certainly generate a lot of different answers as such.
When I was younger, I always wanted to get to the beautiful places fast. The mode of travel was a tool. Now, I can enjoy the travel and part and parcel of the experience. I do not have children, but my dog loves it. When and if I get even older, my bet is that I will enjoy the "getting there" part as much or more as the "payoff" spots. I've seen it with me own eyes with folks a bit more experienced than I.
Building adventures with your children, heck, they may think the RV is better than Disneyland! The time, the adventure, the guts it takes to "create a trip" versus "buy a trip". It will allow you to be spontaneous which is great with family. We never travel with more than a very loose outline. It has been wonderful, relaxing, and rewarding.
I could supply much better answers if I knew the ages of your children. But you asked our best, not the best for you.
Most beautiful places this hillbilly has ever seen: Road to Hana in Maui, Amalfi Coast in Italy (Sorrento, Amalfi, Positano, Capri), Cinqeu Terra also in Italy, the entrance to Monaco from the Italian Side, Porto Fino, Parts of Jamaica, Kaui, and Lisa's bedroom in 1975.
Give the age of your kids and you will get more informative answers with people with better experience in that realm.
PWood