First of all, let go of any guilt! As long as you provide sufficient notice, the therapists have the opportunity to schedule someone into your slot (just for the day your off, not permanently) or to decide if they, themselves want to take time off.
Second, like you, our schedule is pretty tight and I don't do make up sessions. Missing a weekly appointment or a couple of appointments isn't going to make that much of a difference if you are usually good about therapy. I know you might feel compelled not to let anything slip at any time but (this coming from someone who has 2 SN kids and at least 3 appts each week) if your consistent with therapy at home and don't typically miss sessions with your therapist, you and your DC will be fine. Our therapists have been just fine with me saying we can't make up sessions.