How to start leaving baby for dates?

My son is 9 months old and I’ve only been away from him a handful of times, with my husband watching him while I was out.

Both my husband and I are itching to go on a date just us but we feel bad leaving our son. We’ve gone on family dates with our son and it’s not the same, we really want quality time just us two.

Our son only contact naps and nurses to sleep so we would plan the date to be during the middle of the day, aligning with his wake windows (which are like 3 hours at this point). We would plan to only be gone for an hour or so and would go on a date 5 mins from home so we’re close by.

Both my mom and MIL are willing to come watch him for a few hours but our son doesn’t really have a bond with either of them yet as he only sees them once every few weeks. Because of that my husband and I both feel bad leaving him with them, since he would probably just cry a lot of the time we’re gone and we feel cruel doing that to him just so we can get a date.

Any advice for how to approach this to be able to start going on dates? When/ how did you start leaving your baby to go on dates? How did they handle it?