OP I mean this kindly (as a cat and former dog owner 🌈) you cannot be unaware that your house smells, even though you won't smell it yourself! And stop blaming coats and shoes! Whilst I'm sure they are not helping, especially if the shoes have lingering foot odour, the overwhelming bad smell that will immediately assault any guests to your home is the pets! And no amount of candles or sprays will eliminate this unless you scrupulously clean your home! Pets smell! You allow your dog on the sofa, have litter trays upstairs and one of the cats urinates on your sons clothing! For a start...keep the dog off the sofa. Dogs can be trained...you're the boss, not the dog!
Someone unthread said that cats don't smell! This isn't true...they do if their litter isn't clean and they don't go out much (and they urinate on fabric!) I can definitely smell 'cat' when I go into a home.
Clutter smells, bodies smell, pets really smell, fabric clings onto odours for a long time, cat litter stinks and if you're not on top of ALL of this ALL of the time, your house will smell really badly to guests. Your clothes will also hold onto the 'general smell' of your house so even when you're out and about, you may be unaware that you also smell of your house!
If I'd been told that my house smelled, I'd be mortified too, and would be spending a week or so completely gutting and organising my home in such a way that this would never be an issue again. Starting with decluttering...NOT storing! Get rid of it! Minimise, then scrub everything that's left properly with an appropriate cleaner (I use the Method cleaners), hire a carpet shampoo cleaner and do your carpets and sofas, wash all your soft furnishings incl cushions and curtains, and pull out all of your furniture to thoroughly clean in every nook and cranny. In every room. Get the dog in for a professional grooming and do this at least 3 times a year.
Sounds intense...it is...but if you seriously want to get rid of this smell it's the only way you're going to do it. You can't simply disguise it with artificial deodorisers before you've actually tackled the source.
Once it's properly clean, make sure you only ever use quality odour free cat litter and clean this daily. Use litter trays that are covered not the open ones. I personally wouldn't have litter trays but if you have no choice then you have to be absolutely impeccable in litter hygiene. And keep on top of the cleaning and clutter...always!
Disclaimer: obviously this is not just your job OP...your entire family need to be on board and involved in Operation Smell Expulsion! Make a job list and start today...good luck 👍