K.,
I think there might be several issues here. My baby had similar issues, and she also slept in our bed with my husband and I. She would cat nap, and as a result, so would we. Now, at 7.5 mos. she sleeps all night from about 9 to about 7am, and naps 2 times per day about 2 hrs one time, and 1 hr the other. Here's what we did...
We set a schedule. Feeding, sleeping and napping are always at the same time. She must be swaddled in order to sleep through the night, and the room must be cooled. We also learned that if she can see us while she's trying to go to sleep, she doesn't sleep. We placed a blanket over the side of her bed, and that has worked wonders. In order to set the schedule, we did use the cry-out method, but not to an extreme. If the baby's still crying by about 15-20 mins, then we take her out, play with her, feed her, change her diaper, then put her back in a half to an hour later.
This works most of the time, but babies have growth spurts, and teeth growing, and illness, that changes all of this, but as long as you keep to a decent schedule, it will last the kids through their toddler years too. I have 3 girls, and they all sleep through the night, without a fight.
My husband and I have also not been intimate much since the birth of this baby, and not at all throughout the pregnancy, but we still come first to each other and prefer to sleep together, than away from each other, even if sleep is all we do. We did sleep apart at first, but it was only making our relationship suffer. Now we agree that we can only be at our best, if we come first to each other. Also, my doc assures me that lack of intimacy is normal up to about a year. After that, consult with your doctor.
I wish you luck!