We did have a cleaner, she retired at christmas ☹️
It depends on the cleanliness when you start, how much stuff you have and how much tidying you need to do first.
We live in a large three bed flat, one dog/cat/child. All of our floors are either wood or tile, I have a eufy that goes round everyday, the tiled areas are steamed twice a week. We don’t have a lot of stuff, so no ornaments apart from three on the bookcase, so when we wet dust we don’t have to move many things. We also clean the kitchen everytime we cook, so dirt doesn’t build up so we don’t need to do a deep clean. Things like toilets are cleaned daily so again no deep clean needed.
At the minute we’re both doing about 20 minutes of cleaning a day if we average it out.
I did some tiling in the en-suite yesterday, the day before I gave it a really deep clean, the type where you could lick every surface and it took about an hour. A usual clean would be about half an hour including polising the shower cubicle.
If I cleaned the whole flat without being disturbed or taking a break it would probably take about four hours for a standard clean rather than a deep clean.
Your children should be involved though, my son is five so I take full advantage before he becomes a lazy teenager, with support he wet dusts his room, tidies his toys away everyday, put his own washing away (apart from school uniform), brings me his dirty washing when asked, unloads the bottom of the dishwasher (apart from knives) when asked and takes off his bedding and puts it in the machine when asked.
Neither of us like dirt etc so our flat is very clean and tidy, well, apart from the glasses I leave laying around.