First, I think twice a week is not bad at all, but I dont know how long you are exercising for.
I work full time, about 2 days home and 3 days in the office (out of house 7.30 - 6.30). I would normally exercise at least a couple of times at the weekend (unless away) and a couple of times midweek.
At the weekend I might do an early-sh morning yoga class, or a pre-dinner run. I might do a half day cycle ride, or a whole day walk. In the summer I also quite often swim/kayak/SUP in the nearby river and am hoping to extend that to more of the year.
Mid-week I do a yoga class 6.30pm and also usually run once a week at about 6 or 6.30. I set dinner on a timer while I'm out.
I also walk/cycle to places rather than take the car as much as I can.
For me, I'm never going to run or go to the gym every day, instead I do a range of activities I enjoy, including with friends and DH. It's much easier once you don't have small kids.
I think your working days are far too long to exercise. But you have 3-4 days when you are not working. I know you say your days off are "full" with domestic stuff. But I believe that if you really wanted to you could carve out the 60-90 minutes you would need for a good exercise session. Just do less housework and ferrying. It's not that important.
And what do you do at the weekends? What is stopping you spending time exercising then? Can you make it part of your social/family life? See it as something you enjoy rather than a chore?