We do well with the month-to-month costs, and we do have a written "spending plan" that captures most of our irregular spending - such as 2x yearly property tax payments, or AAA/Costco renewals, car tags, or 2x yearly palm tree pruning.
We have not yet nailed down vacation saving/spending to my satisfaction. Same with holidays - we typically host a houseful of guests for Christmas week, which means a huge spike in heating and food costs. Our anniversary is in November, and it's the one time I just...say yes to whatever comes across the transom. I don't want to penny pinch on our anniversary trip.
Our major tools are automating deductions from paychecks, and setting up "cash flow" savings accounts that are named: for escrow deposits, for car maintenance and registration, for vacations, and for emergency funds.
Another important habit: I estimate our federal and state tax burdens on January 1 (when premiums for insurance change) and August 1 (when my income changes due to the annual merit increase) and adjust withholding appropriately. Since we've been on the Roth conversion journey with DH's SEP-IRA, those estimates and W-2 withholding has been even more critical.
So - do we budget? I will never be a YNAB user, as DH just won't log spending. And I don't want to be the money nag. So I am much happier being the "spending plan" maven instead, and adjusting as needed through reductions in some spending, and pre-saving via automation.