remote as you can get it. the kids are genuinely afraid of the dark and their instinct for detecting wild animals is so primal and severe that it's a huge ********** in the face to realize that we're animals ourselves, living off instincts. the kids get a lot more from the experience by being truly out.
if you can do it, I highly advocate backpacking. knowing that you're a day's hike from the safety of a car or a highway is an even bigger game changer. I think it's good that children are able to develop some skills in handling their fear, and to be able to use that fear to seriously consider what you're teaching to them about various self-sufficiency topics.
Last year we were on a trip and were relying on the presence of a natural spring for resupplying our water, necessary to cook the freeze dried dinners. After setting up camp and the tent, we headed out to find the spring. There was a genuine concern in our daughter that we wouldn't find the spring and wouldn't have enough food to eat, and she began to panic a little. We had our USGS quad maps and a compass, and made a point to stop frequently to sight the terrain and follow the trail on the map with her. One of the best times I've had as a father was that exercise. Managing fear - learning not to panic - using the available tools, including the one between your ears - all to survive. We found the spring eventually and it was such a huge reward for her. She was giddy about helping cook dinner because she helped find he spring. I tell ya what - nothing beats lessons like this. Or those kind of memories as a parent.
cheers,
-ike