Yes, a staff trip can be tax-efficient through the work-related costs scheme (WKR). You can place the trip within the free allowance of 2.00% on the first 400,000 euros of payroll and 1.18% on everything above that.
Condition: the trip must have a business character. Think of team building, strategy sessions or a reward for achieved goals. Document the business purpose well. Always consult your accountant for your organisation's specific situation.