Not a teacher.
I think the "ing" clauses don't go with the latter part of the sentence. I find "and helping us find many destinations....that will fulfill our desires." more natural.
"Our" and "us" because that's what the first part of your sentence mentions. I might be absolutely wrong, but there's no harm in trying.
Also, I do realize that "helping" sort of changes the meaning, but I'd prefer another "ing" verb in continuation. I say it based on things I've recently learned. :)
Student or Learner