Me! I've gone to Virginia Beach for a weekend with my 2 daughters, when they were in their very early 20s, as opposed to the mid-20s that they are in now.
While I went there with them, their dad was in Yellowstone with our youngest daughter. So, he and she had a "father-daughter" trip, while me and the older 2 were on our trip.
On Friday, the youngest-who is now 14-will go with me on our trip to WDW, without her dad.
I've also flown to Chicago with my oldest for a weekend, and spent a weekend in Philly with her too, just the two of us.
I've taken the middle daughter and the youngest each on their own separate weekend trips to NYC, again each trip was just the two of us.
Best advice: let your daughters see you as you really are, and not just as "MOM". Let your hair down and relax. Put aside your motherly persona, and be a friend, and let them get to know you as a person and not just mom.