While we have not toured with our burley piccolo, we have taken the kids on some fairly long excursions for them. I've done 25 miles at a time with our setup.
With the full "DrSeuss" going on, I pedal as the captain of a BikeFriday Family Tandem with a Piccolo hooked to the rack. On the Piccolo is hooked a Burley D'Lite trailer. It holds extra gear and food and lots of clothes. We rode with a 7 year old and a barely 4 year old. The first 25 we did was at the Northwest Tandem Rally this year. The weight of the bike with both kids and me was 443lbs. In my case, I saved my wife for fresh legs (she rode a solo bike; my hybrid)(I didn't need her to take over).
I think that the Piccolo could tour, you are more likely to be satisfied with a kid friendly tandem.
Without money as a consideration, I would go back and get a Co-Motion Periscope tandem. The kids love riding on the back of the Bike Friday, but they are so low and close in, I worry that they can't see much except my bottom. The BF does work well though, and we got ours for under 1900 new. The Co-Motion would be substantially more...
I'm not sure any of this helps, but when I started typing, I thought it would.