I think what you are feeling is very common, both with experienced dog lovers and family members who perhaps wouldn't have chosen to have a dog were it not for other members of their family wanting one. Dogs are a huge responsibility and it can feel overwhelming, even for those of us that are used to sharing our lives/homes with them. It's not dissimilar to that moment of panic some of us get when we suddenly realise a couple of months in that our new baby is for keeps and things will never be quite the same again.
It's a big upheaval and no doubt about it, it changes your life. With many people it passes with time as the dog starts to feel more like part of the family unit, for others it's less obvious and a more gradual acceptance of their new family member. Having said that, there are no rules that say you have to bond with her. If your dh and ds love her and are bonded with her, there is no reason for you to try and force yourself, but at the same time, you must make it clear that she is their responsibility and although of course you will take care of her needs when necessary, you don't want to be the one with all the responsibility, while they get all the fun of games and walks.
Having a dog that is aggressive towards visitors to your homes is stressful and if she doesn't travel well in the car as well, that can be very restrictive for you too, so it's no wonder you are struggling. I would advise you to get some help to deal with these issues, as it will definitely help. You say she is a rescue. A decent rescue should offer you follow up behavioural advice - so that should be your first port of call.
If you do want to try and bond with her more, I agree with others who've said take her to a training club, as the process of positive training actually builds a bond between handler and dog and perhaps consider trying a fun sport like agility or flyball, if you think she'd be up for it. Also finding other people to go on dog-walks with can help. Both open up new avenues of social life and therefore help offset the feeling of being restricted by having a dog.
You aren't doing anything wrong, your dog is loved, well cared for and bonded with both your dh and ds - she is not suffering and you have done a fantastic thing in giving a new home and life to a rescue dog. You are just admitting to feeling the way many people do when they take on a new dog - I won't be giving you any flak for that.
Oh - and I adore my dog/s (currently one, soon to be more) and we are very bonded (in fact a little too much judging by lurcherboy's recent foray into Separation Anxiety
) but they are not allowed on my furniture or upstairs. They have lovely comfy beds of their own and I am always happy to sit on the floor to hug them etc - they aren't missing out on any comfort love or cuddles by not being allowed on the sofa. Lots of people are happy for their dogs to do either or both, but there's nothing wrong with setting your own rules for your own household and if anything, it's good that you set the rules straight away and started as you mean to go on with her.