I didn't battle junior school homework with my two. We were all too bruised by the relentless months and months of so-called "remote learning" in 2020/21 with an autistic, dyslexic, dyspraxic child blowing into daily meltdowns and an undiagnosed dyslexic child sobbing into my lap. Every. Fucking. Day.
They have both settled into doing it at secondary school because they've matured enough to cope with it. It's managed through an app that I can see and I prompt them to do it, but generally they now have the self-motivation to do it. Or at least fear of after-school detentions when they'd rather get home ASAP.
DS1 worked out that it was more economical to not do homework in y6 as he was rewarded for not spending 30+ mins doing something he hated with spending 15 minutes snug and cosy indoors at break rather than loitering on the playground while the other boys chased a ball. There's no arguing through logic like that!
When you've got ND children (and I include dyslexia in this), the school day is extra hard and extra draining to them. They need more time to relax and regulate at home to catch their energy levels up. With conditions like ASD and ADHD, they often segment their life and struggle when different sections of life clash into each other.
My two are both doing really well at secondary and haven't come to any detriment from not having a daily row over homework through the junior school years. DS2 does go to a tutor weekly which gives him targeted support in his areas of weakness which is more useful than a generic sheet for the whole class about obscure points of grammar. I had always emphisised that the expectations at secondary are more rigorous, but to be fair, the homework is far more interesting, varied and purposeful. It's better that they are now self-motivated than nagged micro-managed into submission.
We did always do reading (inc audio books), but concentrated on reading for pleasure rather than regimented reading and being a slave to the reading record.