Yea, I think your current plan is totally fine. We've traveled plenty with our two young kids with a regular car, and have always prioritized purchasing gear that stored and traveled well. I dislike long car trips with young kids, so we have flown a lot, and there is a ton of kid-friendly, space saving travel gear out there. Here are some travel strategies we've used:
-Vastly prefer renting apartments or houses, and specifically rent kid friendly ones with kid-amenities, so we don't have to pack a crib or our clip on high chair.
-Rented gear at our destination (we did this for a travel crib in Ireland so we didn't have to fly with it.)
-Pack scooters instead of bikes.
-Clip on high chair! Amazing!
-Purchased a really great travel stroller (Mountain Buggy Nano.) It lived in our trunk for a long time, plus it was so easy to fly with and use around cities.
-Utilize baby carriers. I'm a big fan of Tulas and keep one in the car. Our oldest was not a fan but the next kid liked them a lot more.
-Many of our trips are to visit family - one grandparent household has a full size crib at this point for visiting grandkids, the other household has borrowed a pack and play for us from friends.
-Rethink sleeping arrangements. Honestly your 2 yo will outgrow travel cribs very soon. Ours would still fit lengthwise, but in the mornings he would try and climb out on his own and tip the damn thing. So we switched to pulling a mattress onto the floor if we could, or setting him up on a sofa bed. He moves so much in his sleep that he would roll right out of a standard twin bed set up, no matter how many towels we stuffed around him under the sheets.
-Pack really light clothes-wise and do laundry wherever we are. I can't remember the last time we traveled with an actual suitcase - backpacks are so much easier, and leave your hands free for kids.
TBD:
-travel booster seats. Our oldest is almost 5, so I'm trying to figure out if a travel booster seat makes sense for us.
Baby #3 is due in a few weeks and we're keeping our midsize sedan with 3-across for the time being. I know we'll get a bigger vehicle at some point, maybe even in the spring, but for now there's no where to go anyways so what's the point?
The ONLY part of road trips I haven't figured out is camping. I took our toddler and baby on a camping trip with friends (while my husband had to work) and even relying heavily on my friend's camping equipment, I still don't know where my husband would have sat in the car if he came with us. Sure I could have brought less and different stuff and we would have made it work SOMEHOW, but with young kids that stuff can make or break a trip. So I have yet to crack that nut, and haven't tried since. We camp in the backyard these days.