My kids are asleep by 830 or 9pm, I'm not sure why this person feels they don't have free time until 11pm, that seems like an exaggeration to me.
Even when they are awake, they rarely occupy both my wife and I full time, unless we're choosing to spend quality time with them. Sometimes just one of us watches them while the other one had time to relax or catch up on work.
It's not like my wife and I were globetrotting before kids anyway. Having kids is far more interesting than the same old, same old routine. I don't really feel like I'm missing out on things I would have been doing before kids.