It is definitely time to establish one of two things:
Date night or parent's hour, maybe both.
If you have family in the area talk to them about watching the children for you at least one night a month and you and hubbie go out. It does not have to be an expensive evening, you can go out for coffee and a stroll through the local mall, a quiet dinner for just the two of you, if you belong to the VFW, Legion, Lions Club, whatever they have dances sometimes. Maybe there is a couple clubs at your church.
If the family close by is grandparents maybe they will be willing to keep the children over night once a month which is even better. During the time you and hubbie are together you do not discuss finances! This is time for just the two of you.
Parent's hour is something I went home from a friend's house when I was about 9 and told my parent's about. They talked to Doc and Mom about it and established it themselves and my husband and established it when my children hit 5th and 3rd grade. It does not have to happen every night, but it does have to occur at least 2 to 3 nights a week. Your 10 yo is old enough to keep track of the 2 yo if it happens while they are still up.
During parent's hour you and hubbie pick a room in the house whether it is the kitchen, den, bedroom, or patio during the summer. You fix yourself and hubbie something to drink, you can have snacks if you want. The two of you retire to that area and for the next hour the two of you talk just to each other, no children are allowed in that room for that hour, they are not to come to you with questions, etc., unless it is an absolute emergency. You do not watch television, listen to the radio, and you do not take telephone calls. You may turn on the record player, tape player, or CD player with soft background music but that it all. You can discuss vacation plans, work that needs done around the house, things that need to be purchased, your job, his job, where you want to go on date night, or anything else that comes to mind. You do not argue and you do not discuss any topic that is upsetting to either of you.
Just remember, no children are to interrupt parent hour. If they come to you they are told to go back to the movie they were watching, their room, whatever but it is parent's hour and they have your attention the rest of the time.
He may have to get an hour less nap those days, you may have to give up something as well, but for a healthy marriage you owe yourselves this time, take it.
Doc and Mom were married 63 years, my parents 47, and my husband passed away after 29 years. I have to say parent's hour saved my marriage for us and we were much happier after establishing it. I worked days and he worked evenings and weekends the last 6 years so it wasn't easy to establish but we did it for our marriage and each other.
Good luck