Here are some options:
* Indulge: "She indulged in a luxurious spa day."
* Savor: "He savored the luxurious experience of a five-star hotel."
* Relish: "They relished the luxury of a private beach."
* Lavish: "The company lavished its employees with luxurious gifts."
* Pamper: "She pampered herself with a luxurious massage."
* Spoil: "He spoiled his family with a luxurious vacation."
* Live: "They live a luxurious lifestyle." (Implies a continuous state)
Example:
Instead of saying "He luxuryed on his vacation," you could say:
* "He indulged in luxury on his vacation."
* "He savored the luxurious experience of his vacation."
* "He lived a luxurious lifestyle on his vacation."
Remember, the specific verb you choose will depend on the nuance you want to convey.