OP is struggling with the current status quo, so if nothing changes, she'll find herself back where she is in a few months.
She says she despises the nursery run and getting dd in the car.....
That's not going to change anytime soon.
Wouldn't be surprised if OP is back in a couple of years complaining about managing two kids despite not managing with one.
People who've been through similar have given good advice, but OP wants to have it both ways.
Aupair, cut hours, DH makes changes, move, etc.
If the current situation isn't working, then things do need to change.
There was a thread a while back with someone resentful of friends they had to stay with for work.
Moved out of London but then asked back into the office.
She too didn't want to sacrifice the pay but in doing so, meant their current situation wasn't sustainable.
You make changes as you go along, especially if you can't cope with everyday stuff.