Teach them the following:
If they get separated from you at ANY point, teach them to IMMEDIATELY SIT DOWN ON THE GROUND wherever they are.
Trust me, a child sitting down on the ground alone will get the attention of a LOT of adults, and someone will help your child. Plus, a child sitting down is easier to see than a child walking around amidst thousands of OTHER people walking around.
I was just at WDW. More than once, we encountered families who had become separated from their kids.
At one point, in the MK, we were walking from Tomorrowland to Fantasyland, and there was this kid, about 3 years old, sitting on the ground, COMPLETELY alone, crying. I saw a woman nearby eyeing him (I assumed she was his mom, and the kid was having a tantrum). I looked at her and said "Is he yours?" She said "No, is he yours?" and I said "No." Immediately, we both went to him (I assume she was also a mom). Just as we got up to him, a family came RUNNING up to him, thanking us profusely in a mixture of spanish and english for "finding" him. The dad scooped him up and put him on his shoulders, and the happy family walked off.
I tell you, that kid stood out like a sore thumb, just sitting there on the pavement all alone. There were people milling about everywhere, but that just caught my eye like nothing else, and apparently, that other mom too. We were on him immediately, and I'm sure a CM would have been there within minutes if it had not been us.
Teach your older one to find a CM or a "mommy" with kids and ask for help.
Teach your younger one to "sit down, stay put" until "a safe grown up" comes to help. Show him examples of "safe grownup" (CM, "a mommy")