4 nights in Florence. That is basically 3 full days with possibility of one day trip to San Gimignano & maybe Siena on the same day tour (you should probably use a private van tour for ease of travel with 6 people, as buses would be challenging with small children). If you fly to Florence, it might be best (although generally more expensive and at least one layover in Europe is necessary as there are no direct flights from N. America to Florence). If you fly in and out of Rome you should take the train from the Rome airport to Florence as soon as you land (2.5 hours including a likely connection at Rome Termini station, Rome's central station).
4 nights in Sorrento peninsula area (the north side of the Peninsula is called the Sorrento Coast, the south side of the same peninsula is the Amalfi Coast. Sorrento may be logistically better, but you still should use a private driver tour to visit the Amalfi coast, as it might be challenging using the bus with small children. Capri is an easy boat ride from Sorrento (or also from Positano or Amalfi). Traveling from Florence to Sorrento is a 3 hr high speed train from Florence to Naples, then from Naples you take either the commuter train (Circumvesuviana train) for about 5 euro per person or a private driver (about 100 euro).
With 6 people traveling you might also consider a private driver from Rome to Florence, and also from Florence to Naples. It's more convenient for 6 people (but expensive) and not as fast as the train (time of travel by car is at least 50% longer than by high speed train).
If you fly out of Rome, at least the last night must be spent in Rome.