Working mom guilt

I am a working mom, I have 2 boys - one is 7 and one is 6 months. I always feel guilty if I even think of going anywhere because I do work. I always feel like it makes me a bad mom. How do I get myself to take some much needed me time without feeling like I’m a horrible mother?

Also, my husband has started complaining that I do not give him any attention and that all my focus is on our children. How do I get us out of the roommate stage? How do I become his wife again. I don’t recall the last time we actually were intimate.