Everything you do with children where they're being chatted with, told what's happening, told how to behave, given feedback, and where they end up with a good relationship with the caregiver, an idea of how to behave out and about, and decent vocabulary is an educational activity.
My DCs "helped" me clean, with baby wipes. They did not "help" me bake - tried that once and never did it again. That sort of malarkey is fine for Instagram but not for real life.
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They spent a lot of time doing grocery shopping. My oldest DC learned the names of all the streets we passed along the way to the supermarket where I shopped the most, and could identify nearly all the brands of cars on the roads. Her next younger sibling was usually napping in the carseat while all of this was going on.
All the younger children napped in their carseats and in the stroller, and they ate many a meal and snack on the go, too. Only the oldest had the luxury of meals in the kitchen and naps in the crib. She also had the luxury of trips to local pet supply shops to see the birds, lizards, mice, etc, that they sold there because DC2 used to wheeze in pet supply shops...
It's easy to feel your children are being short changed if you're not there with them all the time, if you've hired someone to do what you imagine you'd do if you didn't have to work. But the reality for SAHMs and their children is often extremely humdrum. I had laundry to do, and groceries to list and buy and schlep up to the apartment amd put away and cook. I had an apartment to clean and keep tidy, bathroom to scrub, shoes and clothes to buy. My DCs tagged along with me if I needed a new swimsuit or a can of paint or if anyone needed a new pair of sandals.
As an upside, they loved preschool when they went - the stories, the art, the classroom toys, the two or three hours a day spent with their little friends and their ever so patient and kind teachers. They knew how to follow instructions, quiet down, share, etc, by the time they went because their lives hadn't been full of activities centered fully on them, and they had been taken places (including church for an hour once a week) where they were expected to modify their behaviour and practise their manners.