OP, as someone with ADHD who has struggled in the past to run a family home, work and parent effectively, the only answer for me has been to work really hard at embedding processes and routines in a guilt-free, constructive and positive way.
So for me - empty dishwasher first thing, put a load of washing on, put dry washing away, take bins and recycling out, hoover living-room and clean downstairs loo. Then in the evening, fill dishwasher and put dishwasher on, wipe down kitchen surfaces, hang washing out to dry, hoover kitchen, clean upstairs bathroom while kids are in the bath.
For my kids - home from school, bags hung up, uniform hung up or in the wash, homework taken out, sit straight down at kitchen table, homework done, back in bag ready for tomorrow, bag checked so we have everything for school tomorrow.
For packing - I now have a list of packing "sections" on my phone - DC1 clothes, DC2 clothes, coats and shoes, toiletries, toys and games etc. - that I write out on a list of the fridge before we're going away. I add anything extra for that particular trip, e.g. Christmas presents. Then I give myself a few days to pack and either listen to music or use a five minute timer ("Oh, I'll only do 5 minutes then stop") while I do each section.
I find that 1) it takes a long time for tasks to become routine for me, but when they are, they don't require conscious effort so I can do them easily, and 2) any non-routine tasks need to be broken down into manageable chunks and the mental obstacle removed from starting them for me to be able to manage them.
I don't do guilt or shame anymore. I apologise if I let others down and do a mental debrief to think about what I could do to manage things more effectively in future. Sometimes things work and sometimes they don't.
I've accepted that managing ordinary life is just going to be a bit harder for me than it might be for others.