You've got an interesting situation -- no toddlesrs, but all kids who pretty much are too big for strollers, too! Count on some down-time mid-day -- those kids are taking 2 steps to your every one!
I always try to set it so that we never do more than 2 park days in a row. That said, look at a 5 day plan, not including arrival / departure as a minimum.
Day 1: MK (with a mid-day break)
Day 2: MGM am / EPCOT pm
Day 3: OPEN (but no parks!)
Day 4: AK am / MGM pm
Day 5: Best of the Best
On OPEN day, we usually have a leisurely character b'fast, check out pools (although it sounds like that's not an option, or for at least one person in your group?); we go to DTD. My kids love the
LEGO place, ice cream is great by the water, and the ONce Upon a Toy store is cool too. Perhaps your crew would want to try Disney Quest (if they are at all into Nintendo, GameCube, Play Station, etc.?) It's also a great day to do a resort for dinner, such as Ohana and then check out the fireworks on the beach? We also enjoy just cruising around on Disney transportation, going nowhere in particular! Monorail to ferry/boat to bus -- the kids thinks it's one big ride!
As for the "Best of the Best" day -- you poll the herd, so to speak, and find out 2 or three "gee I wish I coulds" from each child. Then you set up a plan to do them -- and make sure everyone realizes that everyone will get at least their TOP favorite, possibly their second, MAYYYYbe their thrid, and anything beyond that is GRAVY. It cuts back on that commando attitude a bit! And a last day of bee-bopping around is kind exciting, too!
We used this plan successfully with our kids for the first few trips, and then decided we liked even loooonnnger trips. Last time it was 9 days... this trip will be for 12. Anybody see a trend here? But even with that length, we still follow our rule -- 2 park days, then a "break". It just keeps everyone in a much more vacation- like mood!
ONe last note -- I've only listed 1/2 day at Epcot; were it my schedule, EPCOT would be for a whole day, though, and MK for only half. Many folks rule EPCOT out with kids. My two boys (aged 9 and 7) would rate it as their favorite (age 9) and 2nd favorite (aged 7) park. They loved doing the Kidcot stuff in the Worlds pavillion, KODAK and the leapfrog fountain is STILL their favorite memory of WDW, and Illuminations is DS 7's favorite show (especially when enjoyed with a funnel cake from the Americas area!) I should note, however, that DS 9 is not a thrill-seeker, so Splash Mtn and BTTR and Space Mtn were not on his to-do list AT ALL. So that left lots of time to cover the "other" MK stuff very quickly and leave more time for EPCOT.