You've mentioned you have family nearby, right? The best thing my wife and I do for our relationship is drop off our daughter with her grandmother and spend a couple of hours together with a common goal - trim back the pumpkin vines, minor home improvement, go grocery shopping. Frequently this "private time" together leads to additional things that are good for one's marriage.
Also, with you staying at home and your husband working, I wonder if you both think and act like the other isn't doing the "real" work and in turn isn't appreciating your contribution.
Yes, I think that happens a lot. Sometimes I feel so tired in the weekend and I feel like my husband doesn't understand that I've played with our son the whole weeks, that I cleaned all his daipers etc. And that it would be nice to do something different in the weekend than the stuff I do all week long.... And on his side, my husband is also tired and wants to enjoy his weekend because he worked all week in the office.... It's sometimes very difficult. I'm jealous because he can achieve a goal without a little todler around that is working against him and he's jealous because I can decide to go to a petzoo with our son..... Stuff like that.... We don't always understand eachother.
Sometimes when I try to explain how I feel he comes with a answer and a solution that proves that he really doesn't understand what being a SAHM means. I guess he thinks I have a permanent holiday or something like that.... It's difficult.
I can understand how your husband feels. When the LO was first born, things were really rough, and we went into survival mode. But by the time LO was 2, things had calmed down enough that spending a few hours alone with my kid was usually a good thing. However, when my wife is home all day and I come home from work, there often was a sense that she "needed a break" and that suddenly its my responsibility to watch our child and also do the day to day stuff like make dinner, clean up the horrible mess that they made during the day, etc... It was very frustrating.
However, we got through it. Start by not looking at watching your child as a chore. Find things to do with your kid that are also fun for you. Its hard, but it can be done. Second, for me, was work-life balance and putting career ambitions on the back burner(this was not too hard for me, but for some guys it might take a paradigm shift) and just doing enough to get home early every night. Having family take the LO and then just hang out together like others have said. Have the child have a sleepover with grandma and suddenly you two can lay in bed naked all afternoon watching a movie(or whatever).
We both noticed when our child was little that when we had child-free time, we often did not want to go out anywhere, but preferred to just stay home and do the things that we used to take for granted, like play video games, watch TV, surf the internet, have real sex(not the quickie before bed variety), etc...
The biggest thing, by far, that saved us was undoubtedly when I started working from home more. Suddenly I was there to help clean, do the shopping, and could watch our child for a couple of hours during the day. That is not possible for everyone, and while I have plenty of flaws, I am very good at multi-tasking, so I could entertain a 2 year old and still get my work done. Now the LO is almost four, and watching her is easy most days. My marriage still takes work to keep it healthy, but its much better than a couple of years ago.