IME no.
Most of the time, it does far more harm than good for the child/ren involved.
Mum and Dad snapping at one another, arguing, leading seperate lives but living under the same roof.
Very sad for all concerned.
From what I've read, I get the feeling that actually, YOU don't want to seperate.
Our DS has SN and I care for him fulltime, being disabled myself with mobility issues. It's hard work and sometimes, after no sleep, I NEED time out. Even a few minutes to have a shower, brush my teeth or even go to the loo in peace! 
The point I'm finally getting to is that DH and I have 'date nights' where we cook something yummy, share a bottle of something nice and just enjoy talking, downloading the week......
No pressure, it doesn't have to result in sex or anything that you both aren't comfortable with that night.
I think you need to take it back to basics and see if there is any spark there. You BOTH need time out from your daughter, 2 is an age of discovery so I'm sure she's into everything! Plus you both work fulltime.
Try and take the pressure off.
Talk to her 