Relationship down shitter after baby.. when does it get better?

So we have a one year old. Husband insists she co sleeps with us, and frankly I’m starting to agree as she’s heavily teething now. We just absolutely can’t get through the cry it out phase, we’ve tried a lot. Baby cries for HOURS. We are at a point now where our entire lives revolve around the baby. It’s non stop. As a result we get zero alone time. (We don’t have family to help) and our intimacy is pretty much non existance. We are totally resentful when either one of us needs to shower. That is how much attention our little girl is demanding. We do have times where we just say oh screw it, put her down and let her just cry. But it fills our household with screams and after 30 minutes to an hour of that we pick her up again to get back our sanity. It’s really hard. Does this ever get better? When?! Did your relationship recover?