@ Teachtolive
This is where you have the potential to turn things around a little:
We might sit down and chat or watch telly for an hour ...
How about you both shave just 15 minutes off that hour every second night to tackle a room? It would be the equivalent of a 30 minute cleaning/tidying blast. You can absolutely get a room close to spotless in that time with two pairs of hands on deck. You can still talk/catch up with each other while you work.
Kitchen - one of you sweeps and mops the floor while the other wipes down worktops, cupboard fronts, the hob and the table.
Living room - one of you picks up and tidies away toys and general daily clutter while the other plumps the sofa cushions and dusts down surfaces.
Hallway - one of you straightens up and tidies away shoes, bags, coats, junk mail, etc. while the other cleans the floor.
Bathroom - one of you focuses on the tiles and the bath while the other sorts the toilet and the sink.
Saturday morning - one of you hoovers the downstairs quickly while the other watches the children. Swap turns Sunday morning and get the upstairs vacuumed.
And so on.
It may not be 'perfect', but I can assure you, nobody's house is! Cleaning and tidying up are thankless tasks. It's a merry-go-round that simply never stops spinning. Unfortunately, it still needs done, even when you're knackered. Yes, you may lose 15 minutes of sitting down and watching some TV with your DH. But it's 15 minutes. Even exhausted working parents with young children can surrender just quarter of an hour to straightening up a bit.
I notice a lot people say things like: I'd rather do X, Y or Z than waste time cleaning. That's absolutely fine. It's their time to spend as they see fit. But the problem with that mentality is that while folk are busy doing that X, Y or Z, the problems on the cleaning/tidying front are getting progressively worse, meaning it will take that much longer to deal with later. It builds and builds until you feel like you're drowning and have no hope of ever sorting things out. If you just spend 15 minutes blitzing something every/other night, things become so much more manageable.