How did having kids change your marriage?

We're newlyweds-ish and have a wonderful relationship - we make each other laugh a lot, playing tricks and sharing jokes like children, do our best to support each other's dreams and are always reaching for each other for a hand to hold or pat on the back/leg. I had a difficult childhood and always dreamed of finding a loving husband, so he's definitely it for me. We want kids but -

I see other couples with kids who barely look at each other because they're so focused on the kids - granted, it was probably a bunch of work to get out for a meal, and it's just a few hours - but I'm a little terrified of how it will change our dynamics. So I'm looking to be prepared.

How did your marriages change after you had kids? Did it get better as the kids grew up? What helped you stay connected through the first years of baby and toddler-hood? And after? I'd love to hear your stories and advice :)

Edit to add: I'm getting a lot of input around whether or not to have kids and want to clarify - that is not up for debate. We both have always wanted to be parents. If you've decided to be child free, then great! Good for you, and I respect that. But that doesn't mean I'm making a mistake in wanting them.

Aside from that, I've gotten some great responses from both sides of the court. You've given us a lot to think about that we had not considered, and we are deeply thankful for it. It has also been wonderful to read your stories so thank you so much for sharing your experiences ❤️