We sound similar.
Large 3 storey house here, 3 kids.
My house has always been super tidy and friends love visiting as they feel it exudes calm.
Likewise the kids friends love this house, lots of sofas and heavy cosy blankets. The heavy blankets were excellent TK max buys, that are still perfect and in use a decade plus later.
My husband is tidy... this is a huge bonus.
I too tidy as I go, always.
Loos wiped down very regularly, we have two downstairs that would be quickly done daily as visitors are in and out.
I leave a very tidy kitchen every night, could not face a messy one In the morning.
We have stuff but plenty of storage.
Lots of bedding because people stay over, so we need it.
Every day I would return anything to the children's bedrooms.
They are mostly responsible for them.
I am mean with laundry so we all rewear clothes, particularly heavy jeans and hoodies.
Every summer during hot weather I do a day of washing everything like blankets, jackets etc.
One towel each per week.
They have double beds which they strip and I wash every couple of weeks.
They shower all the time and dont share a bed so I get a fortnight from sheets, three weeks if its mid winter.
No coffee tables, a nest of tables in every room.
I like the house to flow and coffee tables look messy to me.
We have LOADS of plants, some very big. They look fabulous and give life to a home, but do require regular watering and minding.
I have a cordless hoover which I will give a 5 minute run a round downstairs, regularly.
Spray mop is fantastic too.
Small regular daily bursts to keep on top of the house have worked for me.
Oh and my children are used to being called to collect their stuff, pick up stuff, put shoes away.
I made that effort to train them when young and they eventually learned to do it to avoid being called to do it.
It was in their own interest to hang a coat, take out a lunch box, put shoes and bags away, rather than be called down 4 times to do each thing.
In essence, tidy husband, storage, regular daily tidying are the kets to it.