You could spend a good portion of your day in Wellfleet checking things out down at the docks for a while, right across the street you can get take-out foodies, head up Chequessett Neck Road to the picnic area, when you're done, starting from the parking lot there's a nice walk you can take around Great Island (Google Great Island Walk and you'll get some hits with a map). You can duck in for a dip here and there or most anywhere along the bay side. There's always a ton of cool stuff in the high tide strand (beach whistles excluded) and cool rocks along the way (that might make it a little hard on bare feet here and there, but not so bad). There were seals at the water's edge sunning a couple years ago when we went. Take the binoc's you might catch a glimpse of the bricks that were one part of the Billingsgate Village (or maybe they don't exist anymore, either, but your kids are at an age where it might be kinda adventuresome).
When my brothers and I were that age, "excursion" meant taking us somewhere to wind us down so they could relax a little.
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