Of course you will have some apprehension, that's understandable. you are taking yourself and 3 others on a crazy adventure. We knew we might come home broke, knew that there might not be consecutive jobs, knew that it wouldn't be all easy, but we also knew we needed to do it. We didn't want to get to 50 years old and wonder, what if. We did not own a house so that made it easier. We did not have grandparents that babysat, but they were definitely sad. We knew it would only be for a year, or two or three, no more.
We did go through our savings, but of the 2+years I was without a job for a total of 12 weeks (pickings were slimmer then).
If you want to maintain a tax home you can't rent it out, but go to TravelTax - Started by a former traveler, for travelers for other info on that. He's great.
Advice on transition, not sure. We didn't make it a big deal, but did talk about it as an exciting thing. talked about the good things to look forward too. My mom visted us in 5 out of 7 locations, that was nice. Some kids grow up with other languages, my son grows up with a bigger world view. He's very outgoing, easy to talk to people, likes adventures. It's worked out well for us. But now the regular routine has been just as important as the travel was.
We are also church going folks and we worked hard to pick a church before we arrived and it usually worked out and went regularly. We tried to select a church and housing also based on location to public transporation also since we are a one car family.
We sent detailed emails home to family (besides phone calls) and they are all now printed out for us to remember.