Exercise...Suggestions?..

I have a love/hate relationship with working out. I love, love love the feeling I get as I am working out and how accomplished I feel afterwards. I have so much energy and I am ready to take on the day. The hate part? When?? For five years, I faithfully got out of bed at 5:30 to have my quiet time and then an hour to work out. While the scale never moved, my body looked better and I felt better. But one thing I noticed was this: because of the early hour that I got up, I wanted to be in bed no later than 10. And that was asleep by 10. Eric is a night owl and does not require a lot of sleep. I, on the other hand, must have at least 7 hours. I do much better with 8 but I can get by on 7. I wish I wasn't like this but I am. So I would go to bed and Eric would stay up. We now have a teen that stays up until around 9-9:30 so if I am asleep by 10, this gave us no time whatsoever. And those of you with kids my age know that you cannot have a private conversation with them around. I tried staying up and still getting up early but I was not fun to be around. My marriage is more important so we both made some compromises. Eric comes to be earlier and I sleep a bit later. So when do I workout? I cannot take time during the day to go to the gym. I am a homeschooling mom. I need to be here. When they get older, that will happen. I can't leave twice a week, right now, to attend zumba. Peter needs me here as much as possible. And once he stops needing me, I am sure my kids will join something that requires us to either be eating during that time or me driving them somewhere. So what do I do? I'm not sure yet. I have been walking a bit in the mornings. I need that time to prepare for the day. Abi loves to cook breakfast for everyone so that is so nice. But it's not light out until 7 and we eat at 8. (we need to start school around 9 or it's just over) I've worked out at night and it's not the same. I'm still trying to work all this out. I do not exercise to lose weight. I exercise to be healthy and to feel better. We are walking to the store today. Any suggestions to help this crazy mom out? I do not mind including my kids but we do have school during the day. I wish I had a room with an elliptical but yeah, not right now. Maybe one day. I am open to suggestions! I may purchase another bike once Peter gets his. We do like biking together... Any more?