We fly in my wife’s retired parents for a week in the winter and go off to someplace warm as a couple.
We take the whole family to a four-generation, ~20 person in one large house lake vacation a week in the summer. With enough people, you get some downtime (and some doubled-up-upon time).
We really like the winter week away, but the summer vacation with the large family is more fun and differently semi-relaxing.
Things also get easier and more interesting as they become self-cleaning, self-loading, and self-entertaining (when they can read). Until age 5 and especially 3 and younger is intense. It lightens up some.
Your life as a parent needs to be only partially about your kids. You need to keep and nurture your adult relationship as well. It’s not ALL about the kids.
We also make it a point to split housework and give each other “time off” to do hobbies, go to the gym, go out with friends, play sports, etc while the other adult has the kids. Keep a shared Google calendar to coordinate things.
It’s a series of small things, integrated over a long time.