Work is also not always a joy. Success is not always a joy.
But there's more than enough evidence to show that, when people look back on their lives, most of them most highly value their relationships and have the most regrets around how they managed those relationships.
Having a child doesn't guarantee happiness. Raising a child is not always going to be rainbows and I suppose learning to accept that the life you create doesn't mean you get to dictate what that life becomes is a form a wisdom. But none of this takes anything away from the experience if you accept it for what it really is.