I see you've received some Salem advice in your other threads, but let me add to that here. In Salem, I'd suggest visiting the Salem Maritime National Historic Site, which includes the tall ship, Friendship, and the Peabody Essex Museum. At the Museum, you can visit Yin Yu Tang, a house that was disassembled in China and reassembled a the museum; there are 2 videos that will greatly add to your appreciation of the house.
Here are some helpful trip reports from 2 families with kids of ages similar to yours:
Also I want to second Remay's suggestion of a visit to the Saugus Iron Works. Even if you don't stop for a meal in Lynnfield or Saugus, it's a worthwhile detour, especially if your family includes boys.
Enjoy your visit!
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