Feeling like roommates after baby — how do you reconnect?

Husband and I are exhausted, running on routine, barely talking except about the baby logistics. I love him but I miss us. We used to have proper conversations, go on dates, laugh together. Now it's all: who's doing the night feed, did baby eat, did you call the PD. Baby is 6 months. When does this get better? What intentional things did you do to reconnect as a couple when you were in this phase? We can't easily afford date nights but I'm open to anything.