There’s a “we”, but what’s the point of having kids if both parents work so you hand them off to a nanny?
Sorry, but your first posting used only the personal pronoun "I," which - as I observed - was indicative of the wrong mindset to begin with.
Your second posting acknowledges a "we," but still could hardly be vaguer, as though you were trying to skirt the issue / avoid facing the facts.
To get back to your statement that you (singular) wouldn't be able to afford a family-sized house for another five years: That's no reason to postpone having a child right now anyway.
Have a child, and extra space will suddenly appear as if by magic. (Namely: Old junk currently occupying your guest room will be disposed of, your computer room will be repurposed as a nursery, etc.)
Have a child, and, believe it or not, you and your spouse won't be standing in the streets with a cup of pencils.
Conversely: Wait until everything is "perfect" to have a child, and you will probably end up adopting a half dozen dogs and cats as substitute love-objects.
Regards,