OP, I am terrified of heights & get extremely motion sick. I love WDW!! We have been going for over 20 years & sometimes 2 or 3 times in a year. Our kids are grown now so it's just DH & me (60 & 59). I tried the roller coasters once or twice, but that was years ago when I was young & crazy! No matter what, don't feel pressure to try those types of rides. You can experience lots of things at WDW besides intense rides. If it helps, think of most things at DW as "attractions", not rides. Because that's what most of them are really. There are very few carnival/ fair type rides there. You can easily avoid them & still have plenty to do.
Here's what I do at MK: Buzz Lightyear, Monster's Inc Laugh Floor, Stitch's Great Escape, PeopleMover, Speedway cars, Winnie the Pooh, Peter Pan, Mickey's Philharmagic, Small World, Peter Pan, Little Mermaid, Haunted Mansion, Pirates, Enchanted Tiki Room, Jungle Cruise, Swiss Family Robinson Treehouse, Country Bear Jamboree, Carousel of Progress, WDW Railroad, Liberty Bell River Boat, Hall of Presidents, Enchanted Tales with Belle.
What I don't go on: Dumbo, Magic Carpets, Space Mountain, Big Thunder Mountain, 7 Dwarfs Mine Train, Tea Cups & Splash Mountain. Splash Mountain is incredible- I used to go on it despite the big drop. Mostly we stopped going on that coz we don't enjoy getting wet anymore!
So you see, I can do 22 attractions plus stage shows & character meets, but only skip 7 things. I don't know if you consider all those things as baby rides, but they are fun & entertaining for all ages.
When we started going I bought the Unofficial Guide. It listed each attraction & told you what type of ride it was- what type of vehicle you ride in & the speed of the ride. Something like that or videos on You Tube would help you know what to expect so you can decide what to try. Many of the attractions are like being on the moving sidewalks at an airport, but with seats. Just a long slow moving belt that you walk up to & then sit down. The vehicle then moves you thru a series of animatronic scenes. It is hard to explain, but you will understand after you get there.
If your DH is able to take the kids on the few intense rides you skip, that's great. As others have said, that's a good time to shop or people watch. But please don't feel pressure to ride everything or your family won't have fun. If you have questions about any of the rides, come back & ask. Lots of folks here will be happy to talk about each ride or attraction.
Good luck, I hope you have gotten some reassurance that will help you enjoy your trip!