Hi and welcome to the forum. This is a very tough decision, especially so as you have a family.
I cannot picture myself spending the rest of my life here in Canada and just being able to visit my family and friends in Poland approx. every 2-3 years.
Not everyone is willing to sacrifice their ties with family and friends. The reality is such that not everyone is cut out for immigration (irrespective of the country). Such a simple fact, yet some struggle to accept it. Immigration seems to come more natural for some than others. I constantly run into Poles who have left 10, 20, 30+ yrs ago and have either assimilated quite well are would never consider returning, and those who have not and would rather go back. Most of the latter choose not to go back as their source of income would be uncertain and so choose the stability of US/Canadian life. Unfortunately, many of them do not take it well, they get depressed, escape into drinking, etc. and become bitter and resentful. They like the financial security and everything else that comes with it on one hand, but unfortunately, not being able to fully accept the new reality does come at a hefty price. Definitely something to consider - which category do you think you fit in?
Even though I like Canada because honestly it is a very nice country, I would rather live and work in Poland.
I think you are not alone on this. However, the reality is that not everyone will have the same professional opportunity in Poland, otherwise you wouldn't have such huge numbers of people seeking better life abroad. There are exceptions, however, and this is where you may find your chance.
Finding work while abroad through recruiters is very tough, unless you happen to be an extremely sought after expert in a well paid profession. The fact is that local workforce is more competitive, often better educated, and more qualified for the job at hand.
Are there any incentive programs for people how emigrated to bring them back to Poland?
I would not count on it. For a start, Poland could simply not afford it.
You may find the following forum dedicated to returning immigrants/migrants useful:
Good luck. Remember that these are opinions of others. Nothing more, nothing less. Trust in your instincts and remember that each case is different. At the end it is your decision and you and only you are the best qualified person to make it. And live with its consequences.