I used to be exactly the same as you OP. Me and DH working a 5 day week and spending a huge chunk of the weekend on housework and laundry. When I went back to work on compressed hours over 4 days after having DD, I was determined that that was going to change and we’d have quality family time together. These are the things that worked for me:
Do a load of washing per day. Carry it downstairs when you first go down, straight into the washer - 1 min max. Hang it up / in the dryer just before you leave or as soon as you get home. Another couple of minutes. Carry any dry stuff up and put it away / dump it on the ironing pile when you go up to bed. If you do all the washing on one day then of course you feel like you’re spending a full day doing laundry.
Ironing - don’t bother with pillowcases etc, just the stuff that really needs it. I iron what we need for work and nursery for the week and a few days worth of other clothes on a Sunday. Takes about half an hour. Then I might do another 15 mins or so on my week day off. I have a basket with a lid for the ironing. If I don’t do it all who cares, no one can see inside. I tend to pick a couple of items from the bottom when I do iron so things that we don’t wear often aren’t in there weeks on end.
Housework - have a routine. I allow myself around an hour doing upstairs on my day off while DD plays. This is 20 mins bathroom, 15 mins vacuuming, 10 mins dust and 15 mins deeper clean in 1 room (different one each week). I do everything against a timer (makes you work much much faster) and stop when it goes off. At first I didn’t get every bit done but as I’m doing it regularly it takes less and less time to do. Saturday I have an hour or so downstairs with a similar routine while DH takes DD out.
Work days we do very little. We make sure the dishes and kitchen are done before bed, and do a quick tidy of the living room and bedrooms. We spot clean if anything is spilt, and will briefly run the vacuum over the middle of the floors once or twice a week if they need it and we can be arsed (cordless. Takes 2 mins). While I do the majority of the main cleaning and the ironing, DH is equally responsible for the laundry and general keeping the place clean and tidy, and he does 90% of the cooking.
Once a month we have a ‘productive’ morning or afternoon on a Saturday where DD goes to her grandparents and we get any bigger jobs or DIY type things done.
Sounds like you’ve already Marie Kondo’ed anyway, but a major declutter was a game changer and part of the turning point for us.
I spend far less time cleaning now but our house is cleaner and we are more organised then we’ve ever been.