Sounds like you're not in the right head space to have a kid. You're too focused on you - your body, your relationship, your business, your life, your control. Not once did you mention the HUMAN BEING you will be raising.
That said, let me waylay your fears. Kids aren't that bad. Anyone can afford a kid, they're not expensive. Unless you plan on dumping them at day care at week six so you can "get on with" your career.
Here is the most important thing: Children need 24 hour attention for the first three years of their lives... by someone who loves them. (Look up the Dunedin Study). Structure your life around that. That means one of you stay home full time, or you have grandma, grandpa, auntie or au per staying home every day to spend quality time, breastfeed (no powdered formula) and teach the mind of this little person. Failure to do so will result in a human who drains society for the next 80 years. Three years is not much in a lifetime. Think of those three years as an investment in your retirement policy, since this is the person who will take care of you when you're old.
Yes, you can travel. Travel writers take their kids everywhere. They're highly portable and it's good for kids to be exposed to everything.
Yes, pregnancy is hard. Metabolically it is the hardest activity a human can do, harder than any ultramarathon. Read the book "Burn" to learn more. Your body may never be the same, but let me tell you aging does this anyway.
Yes, your sex life will suffer, but your romance won't.
Yes, it's hard. It's chaos. So what? This isn't about you. It's about becoming one with the meaning of life - reproduction being the purpose of all living things. Embrace that! Everything else is just noise.
But, honestly, we already have 4 billion more humans on the planet than the planet can hold. It's okay if you don't add one more. Especially if it's all about you.