Again, that depends. My wife and I work different schedules so the kids never really have to stay with anyone else. That is a benefit that not every career offers. I'm sure that babysitting for a certain income bracket is "expensive", but I know that if you're not making that much there are government programs that help, and if you are making quite a bit, it shouldn't hurt that bad.
I'm not saying that things are exactly the same as when you don't have kids, but it's not nearly as bad as some make it seem. Being socially well connected with family & friends help too. When we need babysitting, grandparents are more than happy to help. We tend to attend parties where other parents will be and the babysitting often gets older kids in the party. I've never appreciated having close community connections as much as I do now before having children.
Blanket expensive is not the status quo. But I must admit, if you're a single parent with little to no family and community support, it can certainly be expensive.
Most people I hear complain about how afraid they are of the expense of raising a child are more in my position where it wouldn't affect them that much. It's more reflective of the fear and negative bias then what the reality is. Having lots of money on kids is definitely nice though and will make lots of things in life easier for them, but it's not a must.