I agree with what Brolo said about the vacation but wanted to add my 2 cents. When is the last time you guys had kid free time together? Had a full night where you could do whatever you wanted and sleep in? When is the last time you made love without having to keep a nervous ear open for possible kid interruptions? You said it has been at least six years since you went in vacation/had time to yourselves. You need time every now and again to remember why you fell in love with each other. You need time to make love uninterrupted without a time limit. Like Brolo said, time at grandma and grandpa will be great for the kids. That scenario really is a win win for all parties. You can start planning a more family trip once you guys rekindle the romance.
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