At times I worry a lot when I have to take a long vacation with my family and have to prepare my team. I feel guilty but I have responsibilities towards my family. What to do here?

Firstly, don’t feel guilty. You are working and earning to keep yourself and your family happy. On the other hand, refreshment is important for better productivity. Before you leave for vacation, make sure to finish all projects with deadlines set during the time you're away. By accomplishing that, you will feel comfortable leaving your team for an extended period of time.