There are a few flaws with your assumptions about historical life. The period drama is a pretty good pun, if intended.

Mainly the children having to work elsewhere is pretty tied to the industrial age. Most likely they did work quite close to house. And the house would be not very much more than a single room where dinner was made, housework was done and sleeping for all family members. This wasn't very conductive for sexy times.

But situations varied so widely that it's very hard to generalize.

But biologically not very much has changed. Life uhh finds a way. The sexual act would be pretty similar and enjoyable. If you don't know about new inventions or scientific insights you wouldn't really miss them.

Our understanding of hygiëne has made us a overly scared of microbes. People have been doing mostly fine with only practical understanding. Napoleon would instruct his lover not to bathe a he found her smell arousing, maybe us showering daily has taken something away.