I work from home until 5pm and DW usually gets home between 5-6pm depending on the day as she has to commute quite far.
We have a childminder who drops the children off about 4pm.
When she gets home I've fed the kids, they have changed, completed homework they can do themselves and made their lunches for the next day.
DW and I then usually share pick up/drop offs to clubs/tuition etc and share homework they need help with.
We have one primary and one secondary child still living at home.
We have a timetable and schedule on the wall. It has child's name and what they need to take each day eg PE Kit.
The schedule says what they do when they get home so get changed, make lunch for next day etc.
The timetable also says what is for lunch and dinner each day so there is no complaining.
We meal plan for lunch and dinners on Sat morning including the kids so we know we all have everything we need.
I make easy dinners on busy work days and prep more complicated stuff during my lunch break. It's also when I hang the washing out that I put on before I started work.
DW will also do a load of washing in the evening and the children empty the dishwasher.
DW also does the majority of the housework as she enjoys it more 
I'll wipe over bathrooms and kitchen as I go during the week.
Now I've written it down it sounds like a military operation but it doesn't feel that way.
We work on the basis that we are all busy for the majority of the day and doing our own part at home means that we all have more free time.
Both the girls also make their own (different) dinner once a week. Eldest's is long and prolonged. Little one has support but can do most of it herself.
Also one night is 'freezer' tea which they put on trays and in the oven and one is pizza.
It's whatever works for you and your family and reduces stress.
It took us a while to get into a routine but it has stopped a lot of the stress between all of us because we all know what is going on.