Get home about 11:30, do Bathroom.
DH wakes up, we have lunch together then about 2pm im back upstairs to clean our room & DD room and change bedding.
DH cleans living room & looks after DD.
He then does the dinner and I have a bath.
Sunday: Couple of loads of washing in and out of machines (bedding and towels).
(DH cleans downstairs bathroom, conservatory & kitchen and I help DD with homework.
On a Saturday then, apart from cleaning the living room/bathroom and changing bedding, which doesn't take long (an hour?), you've got hours and hours after 2pm - 2-5/6 you could do family stuff together, cinema or a walk or park, then have quick stuff for tea on a Sat night (stirfry, fishfinger sandwiches, whatever - to save washing up/time) and then when DD is in bed you've got a whole evening to share a bottle of wine, watch a film, talk, have sex...
Same with a Sunday - the housework stuff is an hour or two at most, DD's homework can't take that long, you'd still have a morning or afternoon, plus the evening when DD is in bed, to do either family or just you two stuff.
Obviously that doesn't help with stuff like going out somewhere just the two of you, but it's still quality time just the two of you, you could take it it in turns to cook for one another or get really into board games or have a bath together or just go straight to bed when DD does and cuddle up with a film.
It's not quite going out for a meal I grant you, but it's quality time - you've got hours of time at weekends to spend connecting with one another. I think you're feeling stuck on the grind of life and either assuming if you don't go On A Date it's not quality time, or not realising that it needs to be scheduled in like anything else - which I totally get, life can feel a bit relentless at times. But in reality you've got hours and hours to have sex and just spend time together if that's what you want - what are you usually doing when DD is in bed on a Saturday and Sunday night? Or on those afternoons except cleaning?