Can I go on vacation?

My due date is July 29th and im measuring correctly with how far along I am. Im currently 21 weeks. My boyfriend and I planned on going on vacation this year, but with me being pregnant we wasn't sure. I really would like to. It would be (driving) 12 hours away. (The closet area with a beach that's nice). We've been going through hard times and super stressed for 2 years so we really think a vacation would be good for us. Plus I've never been. When would be a good time? I was thinking May.. maybe June if everything is still going smoothly by then. But wanted opinions.