If you're trying to save money, I'd probably choose a breakfast ADR since they have the lowest overall cost. (Lots of people get caught up in the idea that it's only a couple of dollars more for lunch--but, that's still more!) If you do a late breakfast then it can count as lunch for your family for the day as well. We've done both Tusker House and Crystal Palace breakfasts and enjoyed both. We took our nieces and nephews to Chef Mickey's on their first night and it was a fabulous intro to disney--I suspect the breakfast would be just as good. (I'd advise going to the breakfast that has the best character match for your kids.)
Or, on our first visit, my DW and I ate sandwiches the whole week except for one meal out--Artist's Point. It was fabulous. So, you may wish to consider one night of a baby-sitter or kids club and a night out for the parents.