Sex after kids!

How do you mamas of more than one, have sex.? Do you have to kind of plan around the kids or just spur the moment quicky?

I have my 6mo daughter and my son who is going on 6yrs. My SO works 7-6 and I'm the stay at home mom and he wonders why we rarely do it.

Honestly, for me, I can't get turned on at the drop of a dime and just go off and do it. Knowing our daughter may cry bc she's alone or our son may need something and come look for us. I suggested planning for after kids are in bed. He thinks that's BS.

Help me out here. I want sex lol