We make sacrifices. We don't live together right now (husband and I). I don't have any children of my own, but have fostered several relative's kids. No kids with us right now, which is nice, but we would take home a kid in an instant.
While working insane hours and taking courses, I still managed to have amazing time with the kids in the home. However, it took ALOT of organization. Also, kids can be trained to help far more than the average family does these days. When we had kids in the home, the rules were pretty clear on who did what by when. We might spend Thanksgiving day making Thanksgiving dinner PLUS 20 family meals for the chest freezer. Then, every night a meal had to be pulled out and that was one persons job. Every evening, a youth as young as 9 or 10 could move the meal to the oven and turn the oven on while I grabbed a shower. The standing rules were 'if you X it, then Y it' as in 'if you open it, close it, if you move it, return it.' None of us lived with the idea of 'I'll do it later.'
However, when we had something going on, it was their time. IE if we were going ice skating, I didn't go and plan on studying on the sidelines....I was out with them...and we often did what they wanted, no matter how much it wasn't my idea of fun (video games, haunted houses.) Also, we spent companionable time. As in everyone sat at the table and did homework or read a book/newspaper. We didn't have TV, and that helped (in my opinion) because it didn't sap time.
As kids get older, in my experience, they actually want more responsibility and freedom.... less time from us. It's always a balancing act. I can honestly say, though, that even when we had really good money in the house, I was the very mean adult who didn't think a kid should be enrolled in every activity under the sun, should roam all over the city in a car or otherwise, and firmly believed that kids worked to earn money and privelages.
As I noted, I haven't had a child live with us for more than 3 years at a time, and as many as 3 kids at a time. Also, the goal for us is always to have the child stable for when their family is stable for them. Maybe it would be different with my own....but I do love the kids we care for, even with the challenges that come with displacement.
Oh, and part of it is having high expectations, but also really noticing and appreciating those in the household. I am far more aware of the time I am around my family than I was before returning to school for vet med..and now going to vet school. If I had kids, I wouldn't make the move without a spouse who is on board and all for it. I think that part is important.