I wfh, finish at 5.30 (usually on the dot or near to), dh finishes at 5, we have a 3yo and a 5yo.
Dh leaves work at 5 and picks up dd from nursery, ds from after school club, and gets home about 5.30 - 5.40.
I start food when I finish work, either something batch cooked, or a simple meal. Sometimes I do veg prep on my lunch break so it's all ready to just chuck in the oven, and I chuck it in at about 5. Dh pitches in on the cooking when he gets home, the kids play together/annoy the shit out of each other while we cook, set the table etc.
Dinner on the table by 6.15 ish. We all eat together. Kids sometimes eat more, sometimes less. I don't push it, dd gets dinner at nursery and ds gets a sandwich and fruit at after school club so their hunger levels are really variable. They know, though, that what's on the table is what there is, so it's usually fairly low fuss if they don't want to eat.
Play time/tidy up time for the kids after dinner until 7.15 ish, depending on how tired they are. No TV after dinner because they are awful at going up to bed if the TV has been on at this time. When I want to start moving them along to bed time I set a little oven timer clock we have for 10 minutes, tell them that the clock is on, and they know when it beeps its time for bed. That has taken a lot of the drama out of announcing it's bed time. They get a warning, and if I try and send them up before the clock beeps, they are very clear with me that it's not time yet because the clock hasn't beeped.
Teeth, toilet, pyjamas, and story time if they are good at getting ready for bed. They have baths in the morning rather than the evening. They both go up at the same time. Dh and I usually do all this together.
Off to bed, some time between 7.30 and 7.45. Oldest drops off pretty quickly, youngest flaps about in bed but stays put and is normally asleep by 8. We clear up and relax, do hobbies, whatever.
Sounds very low drama when it's written down but it's challenging sometimes when they are tired, or take against their favourite pyjamas for no reason, or don't want to brush teeth (which is non negotiable) etc. There are flash points and a lot of cajoling. But the trick with the oven timer has made one flash point a lot better.