It's very hard where you are right now. I hear you. I too miss my selfish life pre-kids where I'd travel at the drop of a hat. But I had to make my peace with it sone years ago.
I decided that to have any kind of life I needed to be part-time (I work 3 days). Today is one day off & I've just been for an hour's walk in nature (I'm urban so make this priority to do on days off) and have a list if things to do: some adnin/ batch cooking/ planning some refurbs/ sorting the laundry/ clean bathrooms before I need to head back to collect youngest from school. I really, really don't think our lives would be manageable without my days off.
Life changed massively with DS3 who is ND & has epilepsy. Time with him is hard going & stressful, so I need time to de-compress. DP also reduced hours so he has a half day on a Friday. I still run around like mad on work days (I teacb), but the days off make up for it. He's almost a teenager now, but still needs huge amounts of time & care. DS1 & DS2 are at uni, but still need my time.
We have had to accept that we can't and won't go abroad holidays. It killed me for years, but I've had an acceptance now as I realise for the holidays I want (even solo wIth friends) I couldn't afford the 5 star experience or afford the time for the long haul I'd love. We have UK breaks & have a little camper van too, which keeps very outdoorsy DP & the older boys very happy. The older two are now adventuring abroad, of course, & it's amazing to see.
We have a lovely house (good investment) & I need a reliable, new car, so pay for that as it's priority (lots of miles to specialist school), but apart from that don't spend huge amounts on loads. We've had to cut our cloth, but still make sure pensions are sorted etc.
I'd seriously have burned out if something didn't give. Think about that.
Edited to say, our DC have always had what they need/ money for activities/ trips/ outings/ clothes/ do what their friends do. And we've saved for them since they were born (DDebit every month so was part of the bills). They were & are always priority over expensive holidays/ Flash things (FB marketplace has amazing things- I've had beautiful furniture on many occasions).