I have a very tidy home. Reasonably clean too. But contrary to what PP thinks, my DC have never missed out on playing with me or going out somewhere with me because I'm cleaning or tidying.
This is because we have systems put in place, where pretty much everything is done as we go along.
Clothes are never dropped on the floor (even when DC were tiny) but put in either the dark or light washing hamper.
Saucepans/mixing bowls etc. Are washed up (by hand - no dishwasher) as we are cooking so after dinner there's little to do. Doing the dishes counts as part of the meal time here. Dinner is only finished and everyone "freed" when the table is cleared and dishes have been washed. Its rarely more than 10 minutes. Work surfaces are wiped down whenever used.
I wash clothes and hang them out in the morning. By the afternoon everyone has a pile of clothes to put away (except for ironing which goes in a basket for DH to do). The DC put away their clothes no problem because their drawers/shelves are only 50% full at most.
I hoover twice a week. Dust once a week
Bathrooms once a week. Toilets every 2 days.
Food and drinks are only consumed at a table. (Except water). Both DC are dyspraxic so when younger i put a waterproof mat under their chairs to catch the mess.
Things are put away not put down. Shoes, school bags, coats.... everything has a place and immediately goes in it when we get home.
The only exception is toys if my DC have set up a game and will carry on playing over the next few days.
Both my DC have ADHD. But easily follow the organisation and systems we have put in place. Crucially, I don't feel like they or DH create extra cleaning or tidying for me so I don't resent the cleaning iyswim.
Regular decluttering really helps keep these systems running smoothly.