Unfortunately (or fortunately, depending on how you look at it), you are going to get a lot of different advice on this one...lol.
However, the bottom line is, if they were getting enough activity during the day and/or evening, they wouldn't be up roaming around on the bed at night. And if they are stuck in a crate all day, then trust me, they are sleeping...not playing.
I'm lucky in that hubby goes to work before I do, and so gets home several hours before I do...total time confined is probably at a high of 6 hours. I still feel guilty for this. However, to relieve the guilt, we have done two things:
1. They don't actually have a "crate" per se....it's a very large cage...in fact large enough that during initial potty training it housed bed, food and water bowls, and a large litter box with doggy litter plus play area. Once we transitioned to going outside, it now has a very large area to play with no litter box.
2. If anyone is home, they are not in the cage, they are with us. Period. We consider the sleeping in bed as part of them being in our pack, and gives them additional time with us. However, if they haven't had enough exercise we immediately know it because of what you described. It is hard to always find the energy to play in the evening, but it's a must if you don't at least do a day a week of doggy daycare. This is a special treat for ours, and they normally stay tired for a couple of days worth from that one day...lol. On those weeks we just can't manage it, the laser light show comes to the living room (you know, the little pen light, just don't shine it in their eyes). Sitting on the couch while they lose their minds running everywhere trying to catch it provides LOTS of exercise...lol. They sleep like babies after that..
Hope this helps
~Twitterpate