OP 16/17 years ago this was my life. But, I didn't resent it and I certainly didn't feel stressed and exhausted and we certainly didn't have a "perfect" house when the DC were tiny. When DS was 4.5 and DD was 1 my average day would go something like.
DC in big bed as DH got out (6.45ish) - it anchored them, he saw them and we kept out of his way until he left at about 7.30.
Downstairs for brekkie and morning tv - everyone dressed and out by 8.50 to drop DS at nursery.
Back home for a quick tidy up with dd circling. Mondays we went to a m&t group, Weds singing, Friday baby group, Tues and Thurs I did a swap with a friend so we got a free morning each and I usually used mine to tidy up, sort out, iron.
Lunch at about 12.30
Mon pm - probably at home but might have gone to the park if weather nice
Tue pm - usually had lunch at friends and went to 1 o'clock club together
Weds pm - storytime
Thurs - lunch at ours and then big supermarket shop afterwards
Fri - was big tidy up day.
Occasionally ds got a lunch invite after nursery which gave dd and I some extra time.
From about 3.00 the dc used to flake in front of the tv for an hour (dd didn't sleep in the day time) and I would have a tidy up then. If they needed things like shoes or haircuts we would get it sorted in the holidays.
Tea time at 5.30ish, 1/2 hour play, bath time about 6.30. DD used to be in bed by 7ish. DS never before 9 - that was his bit of quality time with mummy and gave him a chance to see dh.
I had a cleaner three hours a week and at that stage I think DH's shirts were being sent out. Apart from that DH did the bins and the garden. But he was quite entitled and did bark orders but we got over it with a few "you'll get bugger all if you speak to me like that's" and life got easier as the DC got bigger.
You sound very much as though you need to get some big plastic storage boxes and limit the amount of stuff. From very early on I had one big rule. All toys kept in the children's bedrooms and what came downstairs went back upstairs in the evening and we had tidy up time just after tea - every day.
We were working together as a family and that is what we have continued to do and now reap the benefits. The dc are now 17 and 14 and an untidy pair of so and so's though
. Your home will never be as tidy as it was before dc and I think you have just to accept that and get your time organised.