DISCLAIMER: I am not a medical professional, nor do I claim to be. All concerns relating to health and nutrition should be discussed with a medical professional. I am also sharing my own personal opinions based on my beliefs and practices, so please do your own research and do what works best for you and your family.
I agree with what @MeganB suggested about combining things you don’t like with things you do like.
In addition, I wouldn’t stress too much about it because herbs/spices/etc. often have overlapping properties (magickal and mundane), so if you don’t like one herb, I’m sure there’s at least one more herb you could find that has comparable properties.
The following suggestions are based on my own personal beliefs and practices, so please don’t take the following as absolute fact. Your beliefs and practices are up to you to decide, and the following are only my suggestions
You could also try taking capsules/pills of herbs you don’t like, but please discuss taking any herbal supplements with a medical professional before doing so, and keep in mind that children should never be given any herbal supplements before you discuss doing so with a medical professional, as children are more sensitive to any chemical compounds and they may be affected differently than adults by them, especially since kiddos are still growing and developing.
In terms of the soul/spirit-nourishing aspect, I believe that only a small amount of an item is needed to lend it’s magickal properties to something. For example, if you’d like to include rosemary for protection but you don’t like the taste or the impossible-to-chew needle chunks, you could just put a tiny pinch in or powder it and add the pinch. (Be sure to keep in mind to cut back on any herbs you use in powder form that aren’t normally used as powders because the flavor comes through much more powerfully when it’s powdered, at least in my opinion.)
A second suggestion for the soul-nourishing aspect of ingredients that you don’t like is that you could just leave them out altogether. In my opinion, what matters more than anything (in my practice, at least) is intention. If you want a protective aspect to the foods and beverages you’re preparing for your family, just focus on your family being protected and stir that intention into the food/drink.
As I’ve mentioned in other parts of this forum (I’m on my phone at the moment, so I’ll have to link to it later — if I don’t do it within a few hours, please poke me and remind me and I’ll do it ), every morning when I make coffee for my mom and I, I take a moment to put my intentions of sharing my love and happiness by using my finger to trace a heart in the dry coffee grounds before I press the start button on the machine. It doesn’t require any special tools or ingredients, but my mom always says the coffee tastes better when I do that, even when I don’t tell her I’ve done so.
(Another note: I would never recommend doing anything magical to anyone else’s food/beverage without their permission, unless it’s just a super vague/general working like “I wish the Universe to bring you happiness.” On the other hand, doing some sort of prayer/spell for “Fall in love with me” is a whole other can of worms.)
In terms of the mundane properties of foods, unfortunately, I can’t suggest much other than what @MeganB already stated, and to make sure you and your family eating a variety of things you do like so that you’re getting a wide spectrum of essential nutrients, and take multivitamins and supplements (after discussing with a medical professional) to fill in any gaps you might be missing.