Struggling with Time Off: How to Relax Without Neglecting Yourself

Anyone else struggle with vacations/time off? I just came back to work from my first paid vacation and absolutely hated it. I struggled so much with the lack of structure and had a very hard time remembering basic needs like eating and meds since my daily routine went out the window. Now that I'm back I feel a huge sense of relief and am realizing how much I neglected to take care of myself. Aside from creating a custom "vacation routine" every time I take time off, I can't think of a way to actually enjoy so much down time. I want to use the time to relax, so I don't want to plan any trips that might bring extra variables and unexpected situations, but my work routine already incorporates time for hobbies and relaxing so I don't know what additional "rest" I can incorporate into my time off.