While there are a lot of ways to enrich your kids, having them see the world around them will go a long way in preparing them for the world that has become more like a global village.
As stated in Giving Your Kids Experiences the investment in taking those trips will continue to come as they relish the experience and relieve it in their minds.
You should build up anticipation for the trip by having the kids read up on the destination and come up with important trivia about the trip. This creates a buy-in.
For toddlers, My Car will work well for road trips while Planes would be better suited for trips by air. For wholesome activity kits to keep kids occupied during trips check out TravelKiddy. You will find a wide variety of affordable travel kits. I am not an affiliate, just passing on a good resource. You may also peruse my review in Are You Set for Summer Travel