This was me a few years ago, I have been a sahm for 5 years now. My Dc's are nearly 7 and 4.
I would have said that before ds2 was 2 1/2 my home looked like a bomb had hit it daily, it really got me down and I hated it all.
I started my version of Flylady, I know it isn't for everyone but 15 minute bursts of decluttering did wonders.
Once surfaces were clear then I could actually clean them. Also I sorted out storage for toys, paperwork etc and that helped immensely. I also worked out a laundry system that meant if I did 2 loads a day one of them was an easy to sort load like towels or bedding.
I bought both a short handled and long handled ostrich feather duster and I could then dust a bedroom in 2 minutes and that included the tops of the wardrobes with the long handled one. I also used it to do the skirting boards, no bending down for me
If most surfaces are clear then dusting is a doddle. Clothes sorting (socks, pants, sleepwear) was done whilst listening to the radio and I did it on my son's bed because it forced me to put it away as soon as I had done it.
I would clean the bathroom whilst the children are in the bath, so toilet and sink, windowsill etc and when they were done and out of the bath I could just wipe down the bath bit.
I have just moved house, everyone who viewed my last house commented on my anal sorted house, and now I am in chaos again. Arrghhhhh. I've only been in 8 days but it is awful.