Our kids have been traveling with us since they were little. We take a short trip or two a year without them, but for the most part they have always gone. Get them into the habits early and life is much easier as they get older. We took them on planes, made several long trips a year by car (probably the best thing we did because it’s never been an issue hopping in a car for an 8 hour ride), took them to restaurants including nicer ones, etc and have had zero issues even through the toddler years. They could navigate airports by themselves as early teenagers and had flown by themselves at that point. The parents that avoid it are the ones that have little shits the rest of their youth that they can’t go anywhere with.
We are also not doting parents by any stretch. We can’t wait for them to move out, having a driver is awesome because her sister is her problem, etc. We did want them to see things with us and be able to travel as they got older and not be the kids / young adults that everyone looks at funny because they are being assholes though.