OP, have you ever worked in an office where you have had to train a new member of staff?
At first, it feels like you're doing a job and a half, firstly you have your job to do, then you have the training to do, checking that the new colleague is doing it right, correcting their errors and showing them what they did wrong and how to do it right next time etc.
It's a drag, a big drag and a burden to do that training.
But then there's a turning point. You give that (not-so-new) member of staff a job to do and they do it both right and well, and it's one les thing to do.
Before you know it, they're getting tasks completed that you've not even asked them to do, they've just seen they needed doing and done them; what a win! They are making your life easier and taking some of the burden off your shoulders.
THIS is what you need to do with your H. He's not incompetent, he just needs training. If he forgets to take his kid to the toilet, well then H ends up with a load or pissy & poo-y pants to clean - do not step in and do it for him!
If the kids need breakfast, tell him "breakfast on a Saturday is your responsibility, if you don't make it then the consequences of that are a) the kids don't get fed, which is a pretty basic requirement that I'm sure you as a grown man should realise needs doing and b) your wife loses a bit of love and respect for you, because you didn't realise a). Which either makes you an idiot or the kind of father that social services needs telling about 🤷♀️
Train your husband to be a better father, you have 18+ years of this, per child. You shouldn't have to do it, but your H is clearly pathetic and needs some handholding through this parenting lark until he gets it right.
Quite frankly his inability to be a decent father would make my vagina dryer than the Sahara, so child #2 would have been impossible to have, but you seem to love him, so take his training wheels off and get him to step up.