I haven't read all replies so sorry if I'm just repeating things already said.
Don't beat yourself up about how things have been up to now, you've recognised you want to change things so just look forward and think about how you will feel when you have these things more in a routine.
I am a very disorganised person and even when I know loads needs doing, I sometimes don't know where to start. It sounds silly but just writing things down on a list and being able to tick it off helps me focus and feel accomplished when I've done it!
100000% recommend The Organised Mum, there's a blog, books, Facebook page and private group. What really helps me the most are her guided cleans which are either on Patreon or on her app. Helps me so much with staying on track and getting everything done.
Kids and bathing, if they are only little could you all get in the shower together a few nights a week. Kids don't necessarily need a bath or shower every day when young.
Bedcovers, I pick a day of the week to be bedding wash day. I do mine one week, all kids the next so everybody's gets changed fortnightly. Do you have spare sets? It can help if you just strip the bed and put the clean set straight on, then you have time to wash and dry the other set before it next needs changing over.