I get what you're saying. With my younger children, I was at home 5 days a week - with no car, only public transport - we walked to do the groceries once a week & the park sometimes. Mostly we were at home & it drove me nuts.
These days, I work three days a week and the other two usually involve visiting people or doing grocery shopping or some other kind of running around. I very rarely get a full day at home & I treasure them.

As for the kids... I guess how much routine / stimulation they need is down to the individual. Pie does quite well going out a lot, I find if she does have more than two days straight at home she gets antsy. She seems to like the stimulation of being out & about. DS3 was the opposite, would have been quite happy to always be home.

So, we probably have one or two days at home a fortnight, that seems to suit us both very well. Meeting up with friends that have children is good, it gives us both company on our level. The hardest part is probably fitting in her sleep, she sleeps (very roughly) between 11 and 2 so if we're in the car anytime from 10:30 on she will drop off. I do try & work around that, and try to be home later afternoons so she can wind down but that doesn't always happen..

Sorry, that's a bit jumbly, HTH