We got together when each of our youngest DC were teens, so had it much easier than those with young DC. (We have split up now due to wanting different things - he wanted to move closer to family in London, I was adamant to stay in the North!)
I used to work full time and freelanced on top of that, so would get up at 5.30 every morning and do a bit of work from home. Then I'd take him up a cuppa around 7am, have a cuddle and a quick shag, then off to work.
At the weekends we'd have a lie in aka marathon shagging session, often not getting up til 2pm.
We went for walks a lot - I don't think he ever really got the point of this, but it was something I really enjoyed so he went along with it. The flipside was I went along with visiting his family even though I have social anxiety and was often tempted to say "I've got too much work, go on your own." It was important to him that I created bonds with his family, so I did. (In fact when we split up I really missed them!)
There were several TV shows that we both really enjoyed and watched together every week. Equally there were some he watched and I didn't like, so when those were on he watched them and I sat next to him reading books on my Kindle.
Maybe every 3 months or so we would treat ourselves to a "posh" meal out, sometimes with our respective DC, sometimes not.
Having said all the above - apart from the sex, most of these points could be achieved from a friendship.