Going out to dinner without kids?

It is the last full day of my mother and Godfather’s visit, and Prof. Husband and I are trying to decide whether to take advantage of their being here and go out to dinner, just the two of us sans kids, or whether we should spend the evening all together, staying in, having a long leisure dinner, and hanging out. I’m leaning towards doing both. Yes, I know about baby sitters and nannies, and technically, we could go out without kids even after my mom & Godfather are gone, but we were never baby sitter/nanny people. For one, we have a long way to go still when it comes to economical stability and need to save as much as possible, and so when we hire someone, the money worries it causes far outdo the pleasure we get out of going out sans kids. Second, it’s a bit of a hassle to arrange for someone to come at a certain time, and Karl-Abraham is still young enough that it’s hard to plan for when he will be OK without us for a couple of hours. Mostly, while we’re gone, we worry about the kids, because we have trouble trusting a person we don’t know very well to take over our roles as parents. Silly, I know – I am aware that it’s our own fault we never get out without the boys. With family here though, we could relax for a couple of hours.