we didn't do that much traveling with our kids but we move to new places. when traveling you have to consider your kids interest, so museums are probably out. fortunately i don't care much for that either. we travel to visit family and friends and then do interesting things together, which is much more exciting for the kids.
as a freelancer, instead of sacrificing sleep time i reduced my work time.
work and personal time | family time | sleep.
whatever you do, don't sacrifice on sleep time.