It can be done, your situation is mine exactly except I don't have the cleaner. I've found it hard but a year later and things are looking easier. The key isn't how much cleaning you do, it's how you organise everything from belongings to time. Everything must have a 'place', get rid of any clutter (including ornaments if you have loads - dust traps and look scruffy) and never leave a room empty handed. Clean the shower when you're in it and if your house is large then limit the rooms you use during week nights to prevent any mess just being left. Do washing regularly, don't iron anything use the tumble dryer when possible.
I have lowered my standards somewhat: my kitchen is currently upside down and there are clothes in the living room which need sorting out. However, we've been out all day in the sun and plan on doing the same tomorrow so I'm trying and failing not to let that irritate me. My car is also a state, but since I know it will all be packed up again tomorrow and a mess by the evening I'm not even going to think about it.
I manage to get to an exercise class once a week and I know I could go more regularly that that if I wanted to. My DH is brilliant though he does more than his share of the chores, never makes a mess and thoroughly enjoys my exercise night when he has to give DS his tea, bath, supper and put him to bed. Support is the key.
There are weeks when things don't go to plan, the house doesn't get tidied and I get very stressed out. We cannot stretch to affording a cleaner and I think if there was one thing that would make life easier it's a cleaner, so you might find things work fine. Good luck, it's not an easy time but it can be done.
Thanks for the tip about flylady trashcanjunkie I'm going to have a look now!