This post is a few weeks old, but I am bumping it up!
The way our home is set up currently, EVERYONE uses the same entrance/exit. And I hate it!! Our home is a bi-level, so the entrance is quite small, with stairs up to the main and stairs down to the basement. I am always feeling cramped when trying to get boots and coats on/off.
In the future, I am moving the daycare down to our basement exclusively. It is suite-ed, and we have family renting it out right now. As much as I love them being here (and the extra cash) I can't WAIT to relocate. Then we will have a separate entrance with a mud room, our own kitchen and bathroom, etc. It would also allow the rest of my family their own space and to maintain their routines, etc.
I don't think it's at all impersonal, in fact, depending on the set-up I think parents would prefer a separate entrance.