Can a baby really help me connect again with my husband? I feel we need something in common to focus on.

I find it is not necessary having a baby will help you to connect with husband as there are other things e.g. financial burden, more responsibilities come into picture, stresses in child upbringing and etc. These are not easy issues to be resolved in a family. If you wish to re-connect with your husband, try to spend more quality and special time with him by understanding what he wants and needs.