Generally speaking, you don’t need permission from the court, but you should be mindful that there is likely to be a parenting time schedule. As long as whatever you do does not interfere with the rights of the other parent it should be perfectly fine.
However, you will run into a problem when you try to take your children out of time during the time that is scheduled for your children to be with the other parent. Whatever plans you have are going to be trumped by the right of the other parent to exercise parenting time.
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