I was just lucky, although a single parent. Went to work part-time once the youngest, DD2, went to school (after 12 years as a SAHM) and fitted hours in with school pick-ups. My hours went from three mornings to five, then to each day from 8.30 - 2.30. Finally, when the youngest was 12, I worked full time and she went to a friends or did after-school activities 2 afternoons a week.
I managed to get 10 weeks holiday a year through negotiation with my boss and colleagues and they were fine with it (very small team and our salaries were "tailored" to suit i.e. my colleague earned more than I did but I had more holiday entitlement).
From the time my youngest was five, I worked for the same employer, who completely understood about time off when children are sick, as did my colleagues. I didn't earn a high salary but worked in an extremely interesting, dynamic and sometimes very stressful environment - the team operated within a large organisation but with its own working conditions.
I retired last summer but have been lucky enough to get another, part-time job in a different team in the same organisation. Like some of us here I have had some terrible times in life but my working life for those 14 years was part of what kept me going.
I had a divorce settlement all those years ago which enabled me to buy a house so, again, I didn't have huge financial pressure. Ex took something far more precious than money with awful, psychological repercussions which affect me very badly still. Work was an absolute pleasure compared with the rest of life!