My house is by no means tidy or clutter free, but it's usually clean. And I generally remember to put the bins out/send the kids to nursery in whatever colour it is they want them dressed in/book the dog in at the vets. I feel you though op, it's hard sometimes, i feel like all i ever do is mum stuff or cleaning.
My tips are:
Plan all clothes for the coming week on sunday for you and the kids. my two both have a 5 space storage set which I put their clothes in for each day including underwear and socks, and when I'm doing it I check the calendar to see if I need fancy dress/odd socks/waterproofs or whatever and put them in the right drawer. I usually sort out my work outfits for the week and hang them ready as well. It just removes thinking time of a morning and reduces stress generally.
Use an organising app, we have family wall, which has a calendar for every child and the dog, to do lists, reminder functions, meal planner, contacts etc. I've put in everything I can think of which reoccurs, like car mots, insurance, etc, and set reminders. Any appointment, reminder, thing I need to do goes into the app, and DH does the same. We have a shared grocery list on there too, which we both add to if something runs out. If the nursery tells me something I need to remember at pick up, I put it on straight away and set a reminder. Again, it takes the thinking out of it, just stick it in and wait for the reminder.
I have two washing machines. Laundry takes half the time now. It's amazing. I also don't iron anything, unless it's for a job interview or formal event. I have a handheld clothes steamer for quick decreasing of clothes that need it.
I have also lowered my standards massively when it comes to kids and clutter. The only exception is my little office room, which is basically a child free zone, and where I can retreat to occasionally after the kids go to bed. I'm also working on getting the kids involved with tidying up. Making it an activity with them will hopefully stand us all in good stead for the future.
My personal me time is taken up with studying at the moment, I'm in my final year of an open university degree, so that's my thing for me. DH gives me a lot of help and support to make sure I can have the time to do it though, it would be a lot harder if I was trying to do it without that help.
It's not perfect, but we get through most weeks without major dramas!