OP I'm in a similar position although I'm not single (however DH travels internationally with work). I'm going up to 3 days a week in the office.
It might be worth asking your boss if there's any flex in your start and finish time - e.g you're happy to come in and do 3 days a week in the office but can you do 9.30 - 4.30 and work longer days on your at home days.
Washing I throw in an evening. Every night at 7pm a wash goes in.
If you work, say mon-weds-Fri- throw washing in on Mon night and Tues night and take out to dry Tuesday and Thursday etc etc and you can still get more washing in on your WFH days.
For meals - I try and find a balance, so every week I will buy a couple of whack it in the oven things - e.g Sainsbury's beef hash. I buy frozen veg that can be steamed in the microwave. I prefer fresh veg but on my office days, I can get in and just put something in the oven and put in some extra veg to steam. Rather than standing there peeling potatoes, and cutting broccoli.
Otherwise though - cut your veg on a Sunday and put it in tupperware and get some of them microwave steamers - so you can just grab your carrots and broccoli and it's already done.
Make your kid tidy toys before sitting down for dinner.
With the bathroom and kitchen - just do it as you go. Like I will put on the dishwasher after dinner, that's means it's done by 8.30pm and then I unstack it. Next day I have an empty dishwasher that I can start loading, rather than coming down and having to empty it or leaving breakfast stuff all over the side.
When you sort clothes - do it as outfits so that it's already to go. Saves so much time in a morning.
If you do online food shopping - add things as you go in a basket, so you don't have to sit down for an hour at a time.
And also, I vote get a cleaner. It just takes away so much stress. Even if it's just a couple of hours - have them focus on your high traffic areas - e.g the bathroom, floors, kitchen etc.
If you are cleaning in an evening - be specific and set a timer - e.g 30 minutes and I'm going to do X. I find that if I don't do that, what I'm actually doing is pottering about.