Read the sentence:

Our plan is to rove the country, traveling by car and camping when we feel a need to stop.

Which word could you substitute for rove that tells the reader that it was a carefree and fun trip?

Drift: to move in a random or casual way
Gad: to be on the go without specific aim or purpose
Gallivant: to go about, or roam for pleasure
Saunter: to walk about in a leisurely way