$200k budget for a family of 4 is easy! I have a family of 4 and I wish I had that large a budget! there are lots of boats in your price range. the Beneteau 430's from the late 80's would easily fit your needs. twin aft cabins for when they're ready and lots of space! If you're willing to look a bit older (and cheaper) the Morgan OI 41's have Tons of space, a nice center cockpit with a good sized engine room ( to house all that gear you listed) and you can get them with twin offset bunks up in the V to give your kids each their own space!! OI's have shallow draft which is ICW friendly! Whitby 42's are also great for this! Lots of choices if you are willing to look at boats older than 10-15 years! some of the best ever cruising boats are designs that are now 30+ years old!!!