You find a way to do it because you have to. I went back to work when DD was 9months old, at the time it was FT in the office, since covid I've been able to WFH which admittedly is much easier,
Breakfast barely makes any mess if you keep it simple, toast and a yoghurt, you have a couple of plates, a knife, a couple of spoons and your cups/glasses to wash up. If you don't have time in the morning then it gets added to the dinner time washing.
The house doesn't get messy if you're all out at nursery/school/work so you aren't creating any additional mess during the day.
Washing, in the summer I put a load on as soon as I wake up, then out on the line before leaving for work. In the winter I put it on as soon as I walk through the door after work and then into the tumble dryer. The whole process takes a couple of hours but the bit you are actually actively doing is a couple of minutes to stuff the washer, the same to move to the dryer and then 5-10 minutes to fold. Ironing doesn't happen. When I'm folding/hanging the clothes I bundle it into outfits so there's no faffing around 8n the morning I just grab a hanger or pile and it's everything they need.
Don't put the nursery bag down till you've emptied out any dirty clothes and refilled it with new spares/nappies etc. Then put it in its place knowing it's ready to go in the morning.
Food is ordered online and delivered on the weekend.
Hoover, dust, mop the floor etc I do different things on different days spread across the week and get it done after kid bedtime, it's about 30 mins a day.
I have baskets in the living room and a stair shaped one on the stairs. Pick stuff up as you're moving around the house and throw it in the basket. When the basket is full take it all to where it should be and put the empty basket back.
Weekday dinners need to be easy and quick. Stuff on toast, soup and a sandwich, pasta with jarred sauce or butter, garlic and peas or pesto are perfectly valid evening meals. Not every day but a couple of times a week is just fine. I also like meals I can just throw in the oven with minimal prep like sausage tray bake - sausages, diced onion (bought diced), sliced mushrooms (bought sliced), ready to cook parmentier potatoes, sliced peppers (bought sliced), bit of oil and seasoning. Roast for about 40 mins till everything is cooked to your level of brown and crispy.
Basically you need to make sure that the small amount of time you have is used efficiently so you can minimise house work and dull stuff to maximise family time and fun stuff. Set yourself realistic expectations of what tidy looks like and what a home cooked meal is.