I would build an A frame swing set, I have built 3 the oldest one still standing after 40 years is heavy timber concreted in the ground, the a frame is notched and thru bolted still in use at my moms house.
The second one I used pealer poles 4” for the legs 8’ long but 1 foot embedded in concrete with a 6x8 beam . Again I through bolted my a frame and made the wedges so I could bolt the beam on top. That has been there for 20 years and although it is still used it is not in as good shape as the older one.
My last swing set was for grandson #11 I went to galvanized pipe “A” frame and welded it is much taller than the others but the older kids like it also, again the legs are embedded in concrete,
I work in the lumber industry and if I was going to build another wood swing I would only use old telephone poles as heavy rough lumber is nuts today. And finding quality tight grain wood is just about non existent at least for a 2 generation maybe 3 generation swing. I know my first will make it with the 3rd. the second will if they take care of it and tar the top so it won’t rot as the beam is less than half the beam on the original.