I don't have any kids and I cannot imagine doing what you brave folks are describing. It sounds incredibly stressful and chaotic. I admire you strong moms so much!
But Claire I will say that you can do it! Things that seem scary and hard are usually not as bad as you expect, and even of they are terrible if you have a can-do attitude you can get through the stress with laughs.
I like the idea of planning a short road trip or flight with your daughter and just making it happen! I think you will surprise yourself with how easy and fun it is. I think 99% of it is all about the attitude.