We had dramas in this department after our boy was born. I guess I was a bit boring and we needed to get more adventurous rather than just not doing It when bub was asleep in our bed. Now we just take it out of the bedroom to somewhere else in the house. Or take bub for a walk in the pram till he's asleep, park it in the house, then go for a shower together. We have been guilty of putting him in the walker a couple of times and letting him loose in the hallway of a morning. On average we do it twice a week.
These work for us now while he's not mobile though so we may have to find another way soon! I'm still over being touched most of the time 7months pp. I think that's normal. Being able to openly discuss it with each other is important.