Oh OP ... I have really felt for you reading your thread and some of the replies!
I have 2 dogs & ... an assortment of cats...
Here's my top tips - scoop every day, at least once or twice - I have a re-purposed nappy locker next to my litter boxes and all the clumps go in there - which is emptied once a week on litter change day. You can get 'proper' litter lockers but this is just as good and you can pick up nappy lockers cheap or free on fb marketplace.
Bath/shower your dog regularly! And I highly recommend using a decent shampoo - one that's main ingredients are oats & Aloe Vera - if you'd like, pm me and when I'm home I'll send you the info for the one I use - pet still smells of it a week later! It's a 'game changer' as they say here.
Next - get a steam mop - you can't use anything scented IN them but I put a few drops of Zoflira on the velcro pad and the whole house smells great - I've got the shark scrub & spin one but any steam cleaner will be good. Some you can use on sofa & rug too.
Robovacs - specifically my Eufy G30 has changed my life! Don't forget to clean him out regularly and clean filters etc.
I'm not a fan of air fresheners or anything floral and chemically so I have an oil with diffuser sticks on the hall windowsill - Amber Noir from Shearer Candles, smells like a man who gets dirty at work but scrubs up well ;)
If you can replace carpets with solid floors - do! For 20 years I've had solid floors and rarely a smell but moved here and got carpet EVERYWHERE (slowly replacing as I can afford) and it makes such a difference.
Cat peeing on clothes - get an extra litter tray or 2 - and try and get extra liquid in them as it can be a sign of a uti - if you only feed dry food, swap 1 meal a day to wet - get a water fountain - use lik-e-licks.
Try changing your fabric softener.
Use a laundry disinfectant - sainsbury's own brand is just as good as the dettol one.
Buy enzyme pet cleaner - I use this to clean up accidents and when washing pet beds or anything that's been peed on. It removes the smell rather than masking.
Finally ... There's a group on FB. It's called Neurodivergent clean up crew and it is a non-judgmental place to ask for advice (unlike here).
P.s George says ... kids are tactless & the ones who don't have pets even more so.
Often devoid of dirt? yes but also often love and fun and attention.