positive version of "resting on your laurels"

You can use the expression

well-earned

fully deserved

• a well-earned rest

(M-W)

• I hope they finally found time to settle down and enjoy a well-earned rest.

bask in the afterglow

afterglow (M-W, No. 2)

a pleasant effect or feeling that lingers after something is done, experienced, or achieved

basking in the afterglow of success

Also, bask connotes relaxation, of course.

bask (M-W)

1: to lie or relax in a pleasant warmth or atmosphere

basking in the warmth of the sun

2: to take pleasure or derive enjoyment

basked in the spotlight

I hope they have gone fishing.

= To drop the duties of daily life and go do something else, something nice.

Urban dictionary

The term was used in the past of eminent Chinese officials who, on leaving their posts with honour, were said to have retired to their estates to go fishing. {please forgive the lack of reference: it is difficult to find an authority for this}