The best thing we've done is visiting some friends (who also have kids that age) who live out in a rural area. We don't have to spend as much time wrangling them that way (especially because our friends already had a child-proofed house), and after the kids went to bed, got to play board games and drink bourbon. The first night for our kids tends to be a bit rough, so we bring melatonin as well.

Even then, it's still kinda stressful. It's a phase you're in for a while, I'm mostly resigned to it (and saving my more ambitious plans for when the kids are easier to travel with).