I'm not quite sure whether "šli" is not an option, but that would at least imply that you went there walking (i.e. on your feet, not using car or train).
It means you went there regularly, more than once (and probably more than twice) to each of the countries. I do not think that is the meaning of the English sentence.
Jely is strictly speaking imperfective (jet) but it is the right verb to use here. Pojeli does not exist. There are perfective words like odjet - to leave, to depart, but the meaning is different.