1. Did you have a good trip? => 여행 잘 하셨어요? / 여행 좋았어요? / 여행 즐거우셨어요?
* 여행(n): trip. travel.
* 잘(adv): well, nicely, in a good manner.
* 하셨어요?(v): interrogative, past tense form of 하다 (do, perform, conduct).
* 즐거우셨어요?(a-v): interrogative, past tense form of 즐겁다 (pleasant, happy - adjectival/stative verb).
2. Hope you had a good trip. => 즐거운 여행이셨길 바라요.
* 즐거운(adj): pleasant, happy.
* 여행이셨길(v): past tense, subjunctive form of 여행이다 (is a trip).
* 바라다(v): hop, expect.
We use #1 more than #2.