I love vacationing with DS and even though he's only 5 I just can't imagine it ever getting old. People said we'd get tired of it from the first trip we took with him (our 1st anniversary, getting our wedding album, when he was 3 months old) but it's just gotten more and more fun.
So I see nothing helicoptery in not going on vacay without them. It's not like you're going to sit in their rooms and stare at them...you just don't want to die and leave them without you.
Instead of waiting to go without them, why not SAVE the money you had put aside, and save up some more, and taken them with you on an epic trip to Hawaii?! Maybe rent a condo with a few bedrooms? Or save up even more money, invite a relative with you, they could stay in a room with the relative, you could be alone.... They get the fun of being teenagers on a beach, you get some private time (it's not like they're 5!), everyone wins.