Charleston has more stuff to do, Savannah is very close to I-95 and not undoable but it will take all day to get there. It will be too cold to swim outdoors but your kids would still enjoy an indoor hotel swimming pool! When we drive we usually get a late start after packing, stop in Florence and crash in a room and get up early to get to Florida asap.
South of the Border is scary, it looks like a good place to get murdered by a meth head and the food will give you diarrhea.