I've been in the same boat the last several yrs and what I've learned is shorter trips and times is best. They struggle to get up early and being in education I can tell you that their attention span is the same as their age. So a 5 yr old only has 5 min before they gotta be doing something else. 6 yr old = 6 min, etc.
So just be prepared with things for them to do.
At 5 or 6 my kids would come for an afternoon hunt for a few hrs and then be done. Around Thanksgiving we'd do a family squirrel hunt on a family farm, walk around with camo and a squirrel call. We'd sit for a few min, call a little, look around, then walk 10 yds and repeat. Did that for a few hrs. Then go back to the house for milk and cookies. Couple times we got some squirrels, other times we didn't. I'd let em bring their Nerf guns and walk in the woods to be part of the hunt. At the end I'd let em shoot the 10/22.
I've also had em in a ground blind deer hunting with my dad and I for a late afternoon sit. Brought coloring books, snacks, heater and YouTube on silent. Didn't see anything but got some neat pics with 3 generations in a deer pop up.
My daughter and I and my brother did the same thing turkey hunting. Daughter rode the ATV, same thing, coloring books, crayons, push button turkey calls. Sate for a few hours. Watched a hen walk by the decoys.
With kids, don't over complicate it. Your focus shouldn't be on "getting game" but just their more enjoyment and comfort. And TAKE IT SLOW, remember their interests may not be your interests. Plant seeds and slowly build them up and build their interest in it. Cuz I've seen em get jaded with things and they may not appreciate it and just expect success and "easy" 100% of the time. Allow them to struggle a little, but be there to help. Allow them to find deer tracks or grass hoppers or just exploring rocks and hitting sticks against tree trunks. Let em be kids and experience the outdoors with their natural curiosity and if they're loud, don't get angry, just understand it's part of the process and gently correct them.
Hunting with kids is all about them, not you. Just remember that going into it.
I also recommend inviting but don't push. If the don't want to, that's OK. I have a family member who pushed it on his kids and now they want nothing to do with hunting. I invite my kids now to every hunting or shooting thing and sometimes they come, other times they don't. For the past 5 yrs it's been slowly building and now they're to the age that my daughter can now start hunting. We're thinking of going to S. Dakota in the summer and may take a day to shoot Prarie dogs for a day or an afternoon. Got em both little. 22s and BB guns they think cans with. Got em a youth 20ga cuz my daughter wants to try turkey hunting. My son went 5 for 5 with my 22-250 out at 400 yds on a silhouette target. They both shoot 6 inch pie plates at 100 yds.
But that didn't happen over night. It's been 1 or 2 things here and there. Slowly building them and letting em go with me squirrel, deer, waterfowl hunting (all short hunts) making it comfortable with food and other things. And when they get cold or wet or cranky, the hunt is over. And slowly they build interest and eventually have a full blown hunting partner!
Just my $0.02.
