Sakura tells Sarada that Sasuke often comes home late at night when Sarada isn't aware, meaning that Sasuke and Sakura spend a lot more time together than it appears from Sarada's (and us viewer's) limited perspective.
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Sasuke himself confirms the same, telling Sarada that he and Sakura talk a lot in private in the Sasuke's Story: Star Pupil novel. There are other instances implying that Sasuke and Sakura talk often when they are alone, such as Naruto being surprised that Sasuke knew about Sarada's involvement in the coup d'état in the Land of Stone, and Sasuke replying "Sakura told me about it".
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Fans are privy to several private moments between the couple as well, such as when the couple is talking in their apartment in episode 95, when they are talking about Sarada's training in episode 170, their brief rooftop conversation in episode 208, or when the two are hanging out together at the end of the Boruto movie, soaking in each other's company.
It's heavily implied that Sasuke and Sakura regularly discuss things between themselves – it just happens almost exclusively when they're alone (and most of their moments aren't shown in the series). The two regularly contact and communicate with each other, even despite Sasuke's frequent absences.
