Can The Collective provide some family vacation ideas?

We are a family of five, two parents and three teenage boys, looking for a good vacation spot in the continental U.S. We are located pretty much smack dab in the middle of the country and will be driving to our destination. The boys are all interested in history and we are mostly interested in getting away. We don’t mind camping but any serious hiking is out of the question. We plan on vacationing for 3–5 days depending on the drive time and we have a decent budget. Does anyone have any great suggestions?