Good that you are thinking of your kids. Keep in mind that they are going through their lives for the first time. You are looking back and comparing their lives to yours, or even your image of what their lives ought to have been. They have no such expectations.
The best thing for them is to enjoy and appreciate what they have. It's too bad, in your mind, that they won't get the chance to have that family life you described. I had the same vision for my family, you know. And it stinks they I won't be able to give that to them. But their life is their life. It's critical that they do not view it as a rip off. That they enjoy it, that they are not burdened with your unfulfilled expectations. They are too young for all of that. Let them be children.
we adults tend to project too much. The thing that will hurt kids is when parents don't care, and when parents project their troubles and cares too much onto kids. my opinion.