[During all of them这是状语],
we had been decidedly uncomfortable,（and 这是and连接的并列句） we often kept our thoughts[ from our aching legs or empty stomachs by trying to devise the ideal expedition这是地点和方式状语]
【on which we should live in lazy luxury,yet find the most beautiful and exciting animals in the world这是定语从句,修饰expedition】.
翻译：在这一切中,我们无疑感到很不舒服,我们经常通过不去想疼痛的双腿或者饥饿的肚子来规避这些不适感,这时,我们会去设想我们的短途旅行是那么的奢华,那么的慵懒,然而,却发现了世界上最美丽,最动人的动物.