Nope, it didn't go away for me. My daughter just graduated college and got married and I still feel guilty for having to go to work fulltime when she went into first grade. I so wanted to stay home through at least middle school.
But you'll find ways to make it feel better. You can volunteer to do things at home to help the teachers, go in after work to decorate, make treats or pay for them, I put together so many packets and helped at so many after school activities, I felt like I was the class mom sometimes. But it was worth it. I knew what was going on and my daughter didn't have to put up with my face popping in everyday checking on her. LOL
Local field trips were something I could do too. I just took vacation time for them when I could.
Believe me. It will get better and you'll be OK, even if the guilt sticks around some.