Mine range from 3-7 and usually don't watch during the week, apart from a few YouTube clips to explain something they've asked, and the older 2 get 30 mins or so TV or game time (Minecraft or Lego) two or three nights a week while I put the youngest to bed. I'm pregnant now, so over the school holidays they've often watched an episode or two of something on Netflix or cbbc after lunch while I rest a bit.
On the weekends they'll watch a movie over the weekend, sometimes all one day sometimes over two evenings, and often the elder 2 might have an extra hour of screen time between games/tablet/tv.
We find that the more screen time they have, the more they fuss for it - like now it's creeping up as I get close to my due date, and I really see the difference in how much less they are into self-directed play, they'd rather whinge for Netflix.
They'll be using screens so much at school later, even though we both work in tech, DH and I are trying to focus on other things while they're young.
You say you feel guilty, but unless you're doing 3 hours of cleaning daily, I can't see how it would be doing harm. Getting a 2 year old to help for that long would be a minor miracle, I certainly wouldn't feel bad about that!
Slightly off topic, I do find that big cleans plus small kids never work. There are some great routines online like flylady or (I think) the organised mum / housewife that break it down into little bits every day, then it is manageable either with a child 'helping' or parked in a corner with a morning snack and some duplo.