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One of the more memorable vacations we have done was to Northern California. Did this when we had 3 kids, (now 4). Flew to San Fran, drove up the coast to Point Reyes, crossed through Sonoma and up to Tahoe. Drove down the back entrance to Yosemite and stayed just outside of it for 3 days. Ended up by driving back though the middle of CA into Monterey and back up the coast to San Fran. Lots of variations on where and when to spend some time. Wasn't super expensive.
I'm looking for new ideas next year also. We have done dozens of beach vacations and I am done with those for a while. Took the Family to the Dominican Republic last summer. If money wasn't such a factor, I would take them all the Europe. I stayed briefly in Germany last year and felt my family would love it. So much to see and the cities are very people friendly with walking and biking a great way to get around. But we are talking $10K, at least $1000/each for airfare.