It's possibly not the approach you're looking for, but I reckon the easiest and most sustainable solution is "care less".
In my mind, the house is always tidy enough for company because my friends come to see me, DP, or his kid, not inspect the house.
If they judge, that's a them problem.
It's clean, sometimes it's tidy, sometimes we've all been out or busy, but there's always a warm welcome, food and drinks, and I rate those much higher than tidiness.
No food debris/crumbs (wipe table etc after meals, put plates/glasses etc back in kitchen, stacked to wash), & no laundry around the place (in basket, in machine, or drying somewhere out of the way), but those are the only bits I'm bothered about. If there's books and toys and bags around, oh well. DC likes to throw all the cushions and throws off the sofas to make dens etc, and prefers playing on the floor, so it's often a bit "mind where you step".
If it's particularly bad, I might stack things out of the way once I've settled everyone with drinks, but only in an "in passing" way that doesn't interfere with the social aspects.
I have people over all the time, so they have to fit into how our life works - and they're our friends, so they are perfectly understanding and it's the same when they host...