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Car travel from Edinburgh to London Heathrow with 9 and 12 year old children

The family is my daughter, her spouse and kids, they have 4 days to make the trip.
They will have already spent a week in London, 3 days in Warwick including staying in the castle luxury camping for a night. plus 2 weeks in the Nottingham area prior to going to Edinburgh.
All flights and car rentals are already booked and will not be changed.

Looking for suggestions for child friendly places to visit and things to do along the route during the 4 days.
The planned driving route will not be on major motorways.

They would like to find places and/or activities that would provide a 1-2 hour break during each of the driving days.
As the current plan is drive along the east side of England on the way north from Nottingham, perhaps the drive back could go through the Lake District, Welsh Borders??
Any suggestions would be wonderful.

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