I agree there has to be a balance.
We were really messy and cluttered, mental health issues and autism (me and both kids) and my physical health issues meant keeping on top of it really wasn't easy. It doesn't come naturally to everyone.
I was always stressed about it, the kids did plenty outside the home but I do feel sad we lived like that for so long.
However last month we moved into our HA home (due to my health needs). It is almost twice the size but the difference I feel is far more than double. We are gradually finding a place for everything and it is so much easier to clean because we had a fresh start. I definitely spend a lot more time keeping it nice and I feel like I'm often saying "not yet, we have to clean up first" but we do it together. Baby gets ignored a bit more than the older two did but once we have cleaned up things are so much nicer and we enjoy the time together more because the environment is better. Mealtimes are nicer, we play more board games and stuff too and they are already playing with their toys more because they are organised. I no longer freak out about them getting aaaaall the Playmobil out because it is quick to tidy the sets back into their drawers after. We had 23 people in my house yesterday, the majority being kids with various SN, and you'd barely know it as tidying was so much easier. Before, having even one person over caused untold stress.
And I actually think we can do more messy things now. Previously I'd say no to something like painting precisely because there was already so much mess I couldn't stand to knowingly make any more. Whereas now it is easier to clear the table, put paper down etc and cleanup is quicker.
I could easily get on the defensive from the OP but I know how much better life is now and I wouldn't change it for anything. I'm trying not to get hung up on the guilt of living like that for so long, I was overwhelmed with my own disabilities and trying to meet my kids' needs. I tried though. They still had a lot of fun and friends but did they miss out, yes definitely. It won't be like that anymore.