I have owned tents, a touring caravan, a static caravan and a motorhome, as others have said, it’s down to the type of holiday you like.
Caravan if you want to head somewhere, pitch up for a long weekend or more and tour the area by car. It is great once you are there but a pain en route setting up for a single night, but once you have a routine not too bad.
We actually reverted to a tent for warmer European destinations after a while and used cheap hotels en route for overnight stops then pitched up when we arrived somewhere we wanted to stay for a week or so. By far the most flexible option.
Motorhome if you are heading somewhere where you want to either just sit outside and relax on site or are happy to plan carefully where you go and do things within walking/cycling distance or you are right by good public transport. It’s great for long distance travel, you can pull up in a lay-by, turn the gas on and relax. We found large European lakes good places to stay as there are usually cycle paths and ferries to help you explore.
For UK weekends we found the Motorhome better than the caravan as most sites want you to leave at 11am on a Sunday. As we usually arrived after work on a Friday night, we were within two hours’ drive of home so with the caravan you only really had Saturday to explore. With the Motorhome and some planning you could find somewhere to visit on Sunday before heading home. Coach parks often allow Motorhomes and if you call ahead and ask at National Trust places they can be helpful about parking.
With kids I think caravan. Trying to herd a family to walk to the supermarket and carry provisions back sounds like hell. Many places have height barriers that mean you can’t park a Motorhome.