My children are well out of baby- and toddlerhood. That’s why I say what I say. It really doesn’t matter in the long run. Let me tell you, a father who is absent from your wedding because he chose to climb a mountain instead - that’s way worse.
In any event, it sounds OP like this isn morphing away from the usual MN “everything must be exactly 50/50 at all times otherwise he’s abusing you and LTB immediately” to a different question about what you want from your DH now that you have children together. Not everyone falls into the 2.4 kids, two working parents, 9-5 paradigm. Other varieties are available and no particular permutation or more right than any other, so long as everyone’s needs are being met and after that, everyone has an opportunity to be fulfilled. I don’t at all believe in the prevailing modern trope of parents sacrificing themselves at the alter of their DCs’ childhood, because I don’t think it’s what’s best for the children.
Children need a secure home, with firm boundaries and as many opportunities as the parents can manage. Parents deserve, once they’ve fulfilled their duties to their children, to be fulfilled too. I don’t think both parents need to be present at all times (bar work) for children to be secure and loved and confident and fulfilled. However, do you, as a wife, need this? Let’s not fall into the “cool wife” stereotype, it’s reductive and demeaning. Whatever you need is whatever is right. He doesn’t get to be fulfilled if it makes you miserable.
Also, things do indeed get easier as the children grow older. My friend took her 7yo and 9yo to base camp, with her DH and FIL earlier this year. It was an amazing trip for all. They wouldn’t have done it even a year ago.
Mayne talk to your DH to work out what you need from him now that you’re not just you but a wife and mother too. You’re not who you were 5 years ago. Things have changed. He can’t pretend otherwise and neither can you. Talk to each other and work it out.