It does not sound like insecurity at all. I know how you feel. My husband and I went years without going anywhere once my youngest was born. It was work and home-work and home. I thought-geese, is this how my life is going to be until the kids are 18? We continued the pattern for years, and while I love spending family time, I did miss alone time with my husband. We finally decided we needed to spend alone time, and let me tell you I am glad we did.
The first few times were hard and we felt “wrong” for not taking the kids, but even now when our daughters see us a little stressed-they’ll tell us to “go on a date!” lol Believe me, you will find things to talk about even though you will probably just end up talking about what cute things your daughter said or did, but you’ll be fine. Try it out!
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