We have two bathrooms in our house. One is for the kids, the other is for us. We had the same arrangement in our previous house, though in that one, our bathroom was just ours, as it was accessible only from our bedroom. In this house, it's the other way around, unfortunately.
I don't mind sharing a bathroom with my husband, though I do sometimes wish we had a bathtub or at least a shower stall in the second bathroom. I grew up sharing a bathroom with my mom, and later with my mom, her second husband and my two brothers, so when I moved in with my husband and we had just one bathroom to share, I never thought twice about it.