You do sound a bit of a slave really, op. Key is that my dh and I work together, so it's not my job fitting in round his, etc, and our kids do a lot of the organising of their own stuff that you seem to do. We may also have lower standards round cleaning (life's too short).
Anyway - we have 3dc, we both work full time, no family within 150 miles. And the kids need driving to bus stop/school 6 miles away. Primary age child goes to after school club when needed. I get to work early, dh goes in late and leaves early. Kids sort all their own school stuff (we may verbally remind, we have timetable reminder of what needed when), and do backups if needed (we help and facilitate). We all participate in sports activities 3-6 days a week, so evenings are busy too. Laundry was a bugbear so we reorganised that so each person has their own basket (sorting when clean was the biggest issue) and does washing every 5 days in turn.
We have 2 dogs too and I walk them every morning before work. They get another evening walk/run with one of us, and dh walks them at lunchtime (they go to work with him).
If one of us is away with work, the other manages with extra after school care/breakfast club. Secondary kids go to library/cafe if necessary after school until can be collected.
DH mostly does the shopping while ferrying kids to activities (he usually has a run/walks dogs then too), several times a week as we eat a lot of fresh veg, and we like to get the end of day bargains too.
We use slow cooker and timer on oven, but either of us can make a freshly made meal from scratch in about 20 mins so we can get in, cook and feed the family in less than an hour if evening activities on.
Holidays - we take leave, send kids to grandparents for 1 week a year, muddle through, look after friends' kids the odd day and they for us, etc. This is the most hasslesome time!
We clean as we go and nag the kids to do their rooms.
It's busy, but we manage, and we're pretty happy most of the time. We spend a lot of time with our kids through sport and chatting (we almost always eat meals together). We expect our kids to be pretty self-sufficient, and to organise their own music practice, homework, etc. They're all doing great.
Teamwork - key.
We don't watch telly much at all. 