I think that's really typical. Up until her kids were school age, my BFF and I spent each Mother's Day together, because it was her dearest wish to have a kid free day.
I bet it common. I love her and I am glad we had her but I spent most of the weekend with her and the parts I didn't were with people or working.Of course while I was writing this she woke up and smiled at me and my heart melted.
i know several parents who have brought their children to daycare on both weekdays and weekend days in order to have a kid-free day. it's normal and okay to want some "selfish" me-time.
do it. your sanity is more important than (misplaced) guilt. part of the reason I've never had children is because I need alone/work-free time to keep my sanity. it's perfectly reasonable for you to want a day to yourself.
If do it you shouldn't feel guilty. Perhaps compromise and just have an afternoon to yourself. An afternoon where you don't do a single productive thing. Don't think about coding, no housework, no baby stuff. Go out get a good doughnut and coffee or what ever you like. Walk around the block and just amble along looking at the trees or snow free sidewalks or whatever catches your eye. Read an book or do something creative. Don't start a huge quilt, sit down and make a cozy for your mouse at work or interpret the Quicksort algorithm as a work of textile art (don't sort too many items I would hate for your sewing machine to blow it's stack) :-) Then take a nice hot bath. You deserve a little time to yourself.
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