I pulled the kids out for about a week each year in elementary. I occasionally caught flack for it, but they always learned far more in a week of travelling than they would have those same days at school. Experiential learning provides a stronger foundation for their future studies as well.
In middle school, DD was a national champion competitive cheerleader, so they travelled a lot and missed quite a few school days. Admin were sometimes jerks about it, but kids in school related activities missed just as many school days and theirs were all excused. We got nasty-grams saying she could be retained for missing more than 10 days, but since she was one of only 4 kids in the whole school to earn all A's every year of Middle School, it would have been an entertaining fight. Instead, she was recognized as student of the year for her determination, compassion, and positive outlook. She even missed statewide standardized testing days. She took them on the make-up days, big deal.
Now she is a high school cheerleader and they pull them out of class for the most ridiculous reasons. For example, they have a Thursday night football game scheduled in a town 2 hours away. (Absolutely no reason the game is not Fri or Sat as both stadiums are available.) Buses leave at 1pm, so kids will miss 4 classes...for a 7pm game... 2 hours away. Then get home at 1 am, on a Thursday night. Why??? This could be easily avoided if anyone in admin really cared whether or not the kids were at school.
My son has special needs and is on a transfer to a neighboring district, so we have to dance a fine line with his absences. Still, the experiences he has travelling are absolutely priceless. From D.C. monuments to Aztec ruins, the Hall of Presidents to the Behind the Seeds tour, the things he has seen on our vacations have made him a much stronger student.
Take the vacations. Build the memories and life experiences that will help you kids flourish throughout school and beyond.