I was going to suggest a stroller as well, although I'm not brave enough for a jogger.

My 2 boys are about 20 months apart (right now they're 11 months & 2.5 years), and I bought a double stroller to go walking with them, which we all enjoy.
I still have a hard time "finding" time in my day to walk some days, but I always feel so much better when I do. And I know EXACTLY what you mean about needing time for yourself when you stay at home with your kids. I love being home with my boys, but some days I could run from the house screaming, lol.
I hope you find the motivation you're looking for here!