Nice trip. Never have bikepacked with the kids but have ridden all over with them on my back/in tow/on their own. I find that biking with kids is the best way to see a lot with young'uns. I love hiking with them but you don't get far. Plus the kids enjoy the quicker visual changes a bike offers.
FWIW: I have 3 kids, 1 is car free, bikes or scooters to work, another bikes to work and the 3rd mass transit and bikes to work. It must have made an imprint.