my friend keeps 2 children's sleeping bags under her bed. If her kids come out, they can pull out a sleeping bag and sleep on the floor, but they are not allowed to sleep in mom and dad's bed.
"you need to sleep on your own pillow. You can sleep in my room on the floor, but you can not sleep in my bed. That's mommy and daddy's bed. You have your own bed. You can not sleep in my bed. Do you want to sleep in your bed or on the floor? Ok - go find your pillow."
If the kids are noisy, we give them one warning and then put them outside our door and lock it. You only have to do this once. ...and only for about 10 minutes.
It doesn't fix all the intimacy problems, but atleast hubby can sleep with you and you guys can cuddle.
We also found our 5 yr old was old enough to babysit her 2 yr old brother if we put on a movie for them to watch. Then we'd have about an hour for daddy to give mommy "a special backrub". and our daughter knew she couldn't interrupt us or we'd have to start all over and it would take even longer.