I have days when I envy childless people because I would like the ability to be spontaneous and go to bed with dh in the middle of the afternoon or bugger off to the cinema at the drop of a hat but on the whole I do enjoy motherhood, I really do. I found the shock of my first child very hard and I hated it for the first couple of years but I think now (after nearly 10 years of being a parent) I've grown into it and I enjoy it much more often than not. I especially love my Fridays at home with dd (who is 3.6), we have a fab time.
But I think dh and I do a good job of making sure we each get our necessary bits of solitude, for example I spent an hour in the bath this morning calling friends and then we went for a pub lunch with dd today (ds was away with his dad) and dd and I both slept for an hour afterwards. When dh woke her up he left me to sleep too. (she was up at 5.30am and it was my turn to get up so I needed it)