Yes! Having a vacation was really good for you all. Trips with a baby are not easy, and probably not as relaxing as vacations without children, but they are worth it.
I'm sure you know the difference between 'parent-led' and 'baby-led' parenting. The general consensus among parent-led advocates is that children thrive in a routine, which I personally agree with. Structured nap times during the day contribute to a good night's sleep which is good for baby and parents. But there are those that tell you babies will fall asleep when they want to, and parents should "sleep when they sleep". That just doesn't work for most parents, especially ones with jobs.
My own experience is that there is a happy medium. You can have a routine and still break it for special occasions. Children in a routine don't fall out of them so easily. If they miss out on a daytime nap because of a day trip out, sure they might not sleep as usual that night, but you'll improvise, and they'll quickly snap back into routine when you return home. Sleep is important, but I don't think it is healthy to worry excessively about it - there will be plenty of nights where your kids are sick and they wake through the night despite their routine.
I also think there's a huge advantage to children getting used to falling asleep in a variety of settings. It makes them less dependent on specific conditions to sleep. You've probably heard stories of children that will only fall asleep in bed, with a favourite toy, with a soother, with a light on, with some white noise etc etc. Routine is one thing, but these extreme sleep associations are not great long term, especially if you want to go away on vacation or visit family.
My own experience is that, if you give children a routine but be flexible about it, a happy medium will naturally come about. They will work around your routine as much as you work around theirs. I currently have a 2 year old that is an amazing sleeper (better than her older sibling ever was). She loves to sleep, so long as she is tired, and has been sleeping 11-12 hours a night since she was 6 months old. There was no secret, just a flexible routine, recognising when she needed a nap whether we were in or out. She also sleeps anywhere - we've been to hotels, camping, stayed at the homes of our family. I believe its because we've always done these things that she is comfortable with it.