For the OP, my wife and I traveled a lot before having a kid and our vacations were most often like the ones you describe (go, go, go). Now we’ve had our kiddo on three week-long vacations in the last year. The Pacific Northwest (fly + hotel and condo rental), Mexico (fly + resort), and most recently the camping road trip. I would recommend all three trip types for families. We don’t try to tackle too much and know that having a flexible schedule is key. Plus just lots of planning. Oh, and even though you’re doing less you’ll still be completely worn out at the end of the trip.
For the PNW trip we were visiting family and were able to buy some essentials online or via craigslist (to be resold or donated) so we didn’t have to haul a stroller, car seat, etc. Some cities also have businesses that will rent you that stuff. This trip involved some driving day-trips, hiking, and standard city sight-seeing. The kiddo is pretty happy in the stroller and in the hiking pack and really only gets antsy when in the car for too long. Our rental condo had a kitchen so we often did breakfasts in, got lunch out, and then dinner was dependent on the day’s plan.
For Mexico I think if we do it again we might go all-inclusive just for the sake of ease and it probably would have been pretty close in terms of cost. This time around we were in a standard resort hotel but had them put a fridge in our room so we could stock up on some essentials the day we got there. The kiddo loves the pool and beach and Mexican food so it worked out well.
Most recently, camping with the kid was pretty easy. Most meals were at the site but we got a few lunches while out and about. Normal bedtime was pretty much shot due to the long daylight hours. Our campgrounds were on lakes so more swimming and beaches to keep her busy and we did some hiking as well.