I can jump in at being just a year apart from GP, mine are 3 and 5 now and it's already starting to get better massively. Having them so close to each other makes for some extremely hard first 2-3 years, but then they can actually relate to each other one and play together, which works out nicely.
Kids tend to be cutest from 3-5, so sit back and enjoy as much as you can, the time will come back — I'll confess I'm mostly enjoying the second one in that age only now, as the stress was too high with the first one.
To be honest, the second best thing about kids rather than themselves and getting to know them is what PG nicely put in the following way:
>> See what I did there? The fact is, most of the freedom I had before kids, I never used. I paid for it in loneliness, but I never used it.
In the end, all these limitations will let you appreciate your freedoms so much more.