Litter boxes are a miracle when you think about it: a box of sand and cats instinctively know that's where they should pee. They are a necessary part of cat life, but they don't have to suck! Don't hide it away, give them plenty of room and find a litter that works for both of you.
If you have the space, consider having more than one litter box. Think about it like this: One litter box per cat plus one - so if you have two cats ideally you have at least three litter boxes!