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There is no period of time between visits, as this is to be an individual judgement based on your interpretation of best practices. There are no authorized Covid vaccines for children younger than 16 years and so there is no expectation for children to be vaccinated to ensure a “safe” visit. I would suggest that an outdoors visit is better than indoors. Since all adults are vaccinated the visits will be associated with low risk of infection (not no risk, but much lower risk because of vaccination). Ensure that nobody has symptoms but otherwise you can enjoy the visits.