We use to take my MIL years past. As she aged into her 70's it really started hindering our vacations. The main thing was she couldn't do the things we could, and wanted to too. Oh she would stubbornly try, to the point it made her sick ( against our advice).
It really started not being something my wife and I enjoyed with each other. That's when we stopped bringing her. She's still alive and throws comments at us, but we know it would just be her vacation if we gave in. Not being retired and lots of free time, my time off and quality time with my wife is more important.
We've taken her many nice places, including Hawaii - twice. I don't feel guilty one bit. There is no way a long trip in the MH would be enjoyable. Too many things for me to be worried about.