You have been given lots of advice and it is ultimately up to you how to change your life.
You are the only one in control of your happiness, and you have to realize you deserve this.
You can not change your 7 year routine overnight.
Other than getting into the details of fixing the specific problems, you need to focus on fixing the bigger is issues. Worry about the forest before you worry about the trees so to speak. I do however, strongly feel it is not healthy for you relationship to have the kids in your bed.
Marriage only works if you agree on the bigger issues and have somewhat similar long term goals; otherwise you are really just roommates operating a day care center that are living separate lives. These situations inevitably end in divorce. I am not implying this is the case, but it could certainly get to that point if you continue.
It is hard with kids and the stresses of 2 working parents. Most couples have similar issues. Even Rockscar admits he has similar issues, but he still has intimacy. I believe he said he still texts his wife to flirt with sexual innuendos.
You did not address your sex life and you should not address it on this forum if you do not wish to. There can be sexually active marriages with serious issues, but the majority of the time if the intimacy is lacking than there are major underling issues with the relationship.
It sounds like you need a heart to heart discussion, or perhaps even professional intervention. A talk at the end of the day when everyone is tired and has other things on their mind will not be effective. You might try a weekend get away to focus on your relationship.
There are two sides to every story and chances are there are things she is not happy with also. You deserve adequate sleep, and should be allowed to have a certain amount of guilt free time for hobbies and extended family.
You should also be a modern man with a working wife and carry your weight around the house, which it sounds like you do. You also need a certain amount of time as a couple doing things together and intimacy.
It could be minor changes are all that is needed to make everyone much happier. You could also decide that certain financial sacrifices need to be made to allow more time and resources to go towards the things in your life that you feel are really important.
I am not a counselor, and definitely have my own issues. No matter what you do or how you do it, the most important things is that you do something. I hope you posting this is at least partially fully acknowledging that the problem exists so you are forced to deal with it. You do have set of balls and it is time to use them.