I hear you. This is very normal. Nobody will ever do it just like you. But many people are capable of watching your child for 4 hours. Even over night. Your child will be fine, you are the one that needs the help. Have a glass of wine or go to a movie, put your phones on vibrate and enjoy each other. Especially in the evening, your child may cry for a moment or even for a while, but really she is going to sleep most of the time you are gone anyway.
Your child will go in stages with separation anxiety, so you are doing her a favor letting her experience being away from you guys. This is just like any other learning experience for your child, Do not deny her or those that have offered to watch her.
And guess what, it will continue that way all through your child's life.. In kindergarten they are fine, it is the parents sitting on the curb the first day of school crying.. In middle school parents think their child should be in private middle school, cause they do not want them around those other kids (bad, different?) but the kids do great and meet all kinds of people.. In High school they see the seniors with facial hair and over developed bodies and think my poor baby will be pulled into drugs and bad behaviors, but the kids that have good relationships with their families do just fine.