You don't always have to earn loads to go away. I've never been a high earner, I've always relied on tax credits and child benefit as a single parent, and we still manage a few trips each year. They might not be considered 'luxury' to folks splurging thousands per trip, but the fact we can have them is a luxury to us. Don't forget, you could be staying in bog standard accommodation but by going out to explore, you can see and do some amazing things and end up with the most incredible photos. It's 99% perception half the time.
I only have one child, we live in a nice but inexpensive area, and I don't spend frivolously. I don't drink, smoke or go on big nights out. I budget, I shop carefully at Lidl, and I only ever buy clothing in the sales when me and 10 yo DD need it. It comes down to the things you're prepared to sacrifice, and the things you're not. These things might sound small and silly to most folks, but they really add up! If you keep a close eye on what you're saving and put that money aside, it's unbelievable what you can end up with.
I know friends and past work colleagues of mine have always been puggled by how I can afford to take DD away so often. Don't misunderstand, we're not jetting off to Disney World Florida three times a year, but we usually manage one foreign holiday and two or three UK based holidays/trips each year, and they are always lovely. By dyeing my own hair, subbing Netflix instead of a TV licence, and going out running instead of paying for my old gym membership, I save £587.12 a year. Just on those three stupid things. But I don't let the savings get lost in my current account. If I've saved it by finding a cheaper/free alternative, I stick the money straight into savings like it's still being spent the same way. I might not notice or reap the benefits of those cuts in my day-to-day life, but we can afford to go on holiday.