I definitely acknowledge your feelings and having a young kid can absolutely push the limits on parents.

Have you considered outsourcing childcare? Doing that would definitely make both of you have more time for you both and even a single meal together can do wonders. I myself have a 1 year old and this has helped me and my wife to spend more time with each other. There are days when we'd take a couple of hours off to grab a quick brunch. I'm told kids get more independent as time progresses but we as parents will need to encourage that more as well. As much as it's difficult with a child who is very clingy, I think sending them to day care albeit for a few hours every day could make them more independent and could give you a breather.