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I had a similar experience growing up, it sucks. It has ruined my ability to interact with and form relationships with other men.
As a father myself, I am striving to create moments like you witnessed, I refuse to let my children suffer the way I/we have.
Cleaning before leaving is a game changer. To add to this, launder your bedsheets and towels and have them ready to go for when you get back. Not only will your home smell fresh, but you’ll feel fresh after washing off the travel grime and have a nap.