For myself I didn't travel much for leisure when I was young, I am not traveling when I am middle aged and have more money and I do not plan to when I am old/retired. Even when I did whatever little travel, my memories are just about fight, arguments, or endless waiting for admission to a sight which finally after visiting is "What's the fuss was all about?".
On food the less I say the better. It was either over-hyped, over-priced. To top it all, concluding fine dining dinner of the trip when people after ordering table full of meal didn't eat a thing because they are far too drunk by then.
Overtime I have come to conclusion the people with sensibilities and resources to travel and enjoy are far fewer than people actually travel due to exhorting by incessant marketing of travel.
So while maybe most people through history stayed put, travel has never been just a luxury thing.
Maybe you should find a reason for travel that interests you, and it will be more enjoyable? Instead of taking the tourist wholesale perspective?
I love this interview with Rick Steves and how he traveled Europe in his early days: https://www.npr.org/2021/03/05/974090406/rick-steves-europe-...