You need to approach this in a more structured way and to be laser focused on being organised ahead, including allowing yourself some downtime and time together with your DH.
Write down everything that needs to be done each day.
Separately write a list of the other general jobs around the house - washing, ironing, cleaning, gardening, admin etc.
Work out how long it takes and who is best to do it.
Write a timetable of what you do when, but focus the mornings on just get up, wash, dress, breakfast, leave. Set a hard stop leave time of 15 mins before you need to. Have everything else ready - uniforms/outfits out, lunches made, gym bags done, coffee cup ready and have a specific box/hook/place for each child and you by the front door.
What time is there when you get home before school pick up? Use that time for you - sit, drink a cuppa, meditate - set a timer on your phone.
Use the time you get home with the kids until early evening to prep dinner and prep for the next day - involving kids where you can. Batch cook /plan meals.
Let DH supervise and have some quality 1:1 play time with the kids when he gets home. Share bedtime routine at a sensible time, then both clear up kitchen and sit down for some downtime - tv, food, whatever.
Organise laundry so its sorted into baskets, chuck a wash on last thing at night on a delay to finish when you get home.
Weekends: one morning for cleaning blitz of house and ironing. Share chores around.
Build in the other half of the weekend for proper family time and social.
Keep Friday night strictly date night.