A very general term I would use is "an outing." Example: "Every weekend, I go on an outing with my kid." It is a very general term though. It means anything where you make a plan and go out of the house to do an activity. It could be going to the park, having an adventure somewhere, going to a restaurant, etc... As Aishah said, if you want to be more specific about the type of activity, you will just need to list the activity, like you did in your original example.

I don’t think we have one word for this in English. Does your language have one word to describe this?