2 mottos: stay one step ahead at all times, and use your early mornings.
Early morning: this is the best time of day - I think - to catch up on things. Especially if your DCs are still in bed. You can get dressed, do some quiet jobs and have a coffee or too, so that by the time the DCs wake up, you feel like you are already on top of your day. If your DH is going out at 5, wake up with him and have a couple of hours to get stuff done before the DCs wake up.
try to be always 1 step ahead - that is what keeps me sane. While DD is watching the last peppa pig of the day before her bath, i tidy up her toys (or get her to help) so they are not still there when I come back down stairs.
I put the bath toys away BEFORE she gets out the bath (again, she helps put them all in the box), so i don't have to go back and do it later, etc etc.
Do as much as you can while the DCs are around, so that when they go to bed, you can relax a bit more. I clean the majority of the bathroom while DD is in the bath - that way I can keep an eye on her and chat to her while getting a job done at the same time.
Tidy as you go, so you don't have to go back over everything once they have gone to bed. That way, by the time the kids are asleep, your house is tidy and you can relax, ready for your next early start tomorrow.
there/s no rule that says you have to wait til they go to bed before you do the housework. do it while they are around, then it will set a good example and they may even start to join in and help.