Good morning; We started out similar to you and probably many others; small children, pets and limited time. Now retired with a class A.
We found a trailer was the best option as we could leave it at the campsite and then use the tow vehicle to venture off for the day to local attractions, medical emergencies, etc. without having to unhook everything.
Do your homework as to where you want to go, how long you will be at specific places and other factors.
Eventually you need to decide what will serve you best and with the least amount of concern.
Have a good day and enjoy camping and family.
