"The maths strategies I embedded in our lives to help the older one still come out- and the younger one gives me such looks! We can't cook without me asking him to double things and halve things!"
That reminds me of a time when I had a couple of boys round here for the day, friends of my daughter, aged about 7 and 9 at the time. Things were quiet and peaceful, with kids doing various things, when I asked, "Anyone want to help me bake?" expecting either an enthusiastic or noncommittal response from each.
"NO WAY," said one. "I do NOT do baking." Oh, OK, I thought, strange... Then his brother said suspiciously, "That depends. Exactly what do I have to do?"
"Whatever you want," I said. "I don't care. It's gingerbread. Do you want to add stuff, mix, cut out shapes, do the icing?"
"Well," he declared, "As long as I don't have to measure or double or any of that stuff."
Eventually it was decided that I'd make the dough and all the kids would cut out the shapes. As they tried to make best use of the available dough, I resisted the temptation to tease them by mentioning tesselations.
Maths happens. You don't have to "embed" it. They can watch you doubling and halving things when you need to, without being made to do it themselves before they want to. If you push it on them to the extent that they are giving you such looks, you may be at risk of putting them off baking as well as maths. This "catching up" idea is only relevant in a school context. For children not at school, with whom or what do they need to catch up, and why? They'll get where they need to be eventually. It doesn't matter whether that happens at the age of nine or fifteen or twenty.