It sounds like you have a nice life together!
I’m in no way an expert, but in an ideal world, if money, time and childcare were no object, if it were me I would want a holiday first by myself and then an adventure somewhere together.
I think one of the big things that gets lost in LTRs and family life is a sense of yourself as an individual. I would want to lose some of that workaday familiarity and reclaim a sense of separateness - being two different people with your own worlds that you share.
After that I would want to get away somewhere as a pair, without the usual routine and distractions of kids, etc. and discover something new together. Meet new people, see new things, and have an adventure.
For me, I fancy my partner more when I feel a bit more like myself rather than just ‘the other half’ (after going to visit friends, doing stuff I haven’t done for ages like go to a gig, etc. if that makes sense!), when we haven’t seen each other for a while and he feels ‘fresh’
and when we’re socialising and meeting new people and I get to experience him outside of our ‘bubble’.
I think it’s great that you’ve spoken openly with each other and are both motivated to get back what you had.