That is really cool. We used to take trips like this when I was a kid, but we don't do it so much now that I am older. I think if we didn't go camping as much as we do we might take more day trips like this. It looks like you found some really beautiful and relaxing spots!
I'd rather go camping for a longer period but with time constraints due to some stuff that's going on a day trip is the next best thing I guess. We enjoy it and it gives similar feelings of freedom and relaxation.
We usually only go camping for three nights at the most because it is on the weekend and because the tanks in our trailer only hold about three or four nights worth of stuff before we need to dump them.