We have three kids so getting out just the two of us can be hard sometimes. Some of the things we do at home is cook a meal together after the kids are in bed and enjoy some wine while cooking and over dinner. Watch movies, play board games, play video games, listen to music (you can get on YouTube and find pretty much any song. One song leads to another, we spend all night listening to music sometimes).
We try to do something just us outside of the house at least once a month, it doesn't always happen but when we do we like to go to dinner, to the movies, we just went and saw a play at the theater, bowling, go to the park or mall and people watch.
As a family make sure you eat dinner at the table, we go to parks, camping, movies, bowling, we have one hour a day where we sit in the living room w/out the TV or anything else on and play with the kids (we play w/ them more but have a dedicated hour at the same time every evening).
I completely understand him wanting to relax on the weekends. I was the same way when I was a working mom (I’m now a SAHM) and my husband is that way too. Ask him if he is willing to do something either as a family or just the two of you every other weekend so he still gets a whole weekend to do whatever and then you guys still have quality time together. Maybe you guys can find a video game you both like so you can play together. Another thing my husband and I do is have “us time” every Sunday night. We go to bed early and whatever happens, happens. Sometimes I get a massage, sometimes we just lay in bed and talk but in the end we both always end up happy if you know what I’m saying ;)
Good luck!