We have always tidied up before we go in the mornings - dishes in dishwasher and washing stacked up for the evening, table clean, toys were never allowed out in the morning but chaos of dressing etc tidied away.
It might be slightly messy as I would never brush the floor or similar before heading out. But we generally leave it neat and ready to head straight into cooking dinner, sorting homework etc when we get in home.
We make the beds before coming down in the morning and leave upstairs neat.
The hardest time was the 18 months when DD came home herself after school (2nd half of 5th class, and all of 6th class) - she'd come in and get changed, make herself some food, do homework and then watch tv/play Xbox etc. But clearing away wasn't on her radar - let alone actually washing up the mess she'd make herself!! So some days it was just a few crumbs and a plate/knife/glass, but others it was full on chopping board, sharp knife, scattered bits of onions, 2 dirty pots, wooden spoon, crumbs, bowls, cups, spilled hot chocolate, and maybe school clothes and a couple of damp towels on the floor upstairs if she had decided on a shower........GRR!!!
Luckily, she's now in secondary, and is not home until nearly bedtime because she does evening study, so it is peace and tranquility!! 