Maybe let him know in advance that while you are looking forward to travels and making memories, that in light of how things happened last year, you want to have some time to explore on your own as well. A little time apart.
You have gotten some really good advise here, but maybe in the future a bit shorter of trips? Some good weekend or day trips?? My dad has Alzheimers and is no longer able to travel, but when he could it was a lot better to just go for a day trip or if out of town no more than a weekend.
Sending you a big hug and wishes for peaceful, fun, and safe travels!