I have a DS7 and he is collected by grandparents after school because I work full-time, when my shiftworking husband can't collect him. After I've collected him, we usually drive home together chatting, and then I try to do one child-focussed activity with him each night, even if it only takes 20 minutes. We might do a puzzle together, or I will read an instalment of the book we're working through, or we'll colour-in together. We try to get homework out of the way on weekends, but if there is homework to be done (often spelling revision) we'll do that for 10 minutes, but will follow this with something non-school related. Sometimes, 10 minutes doing lego together is enough, or reading jokes from a joke book. We do bedtime routine together, too, just so I can be sure he actually cleans his teeth properly because it helps to bond before bed.
A couple of mornings a week, I try to get up half an hour early and I will go into his room, or have him crawl into our bed for a cuddle and chat. I try to never bring work home on the weekend, and always give him one full day out of the weekend - the other is often spent with extended family and doing chores.
I've only just figured out how to make this work, BTW. I had a very upset and somewhat angry little boy when I returned to work, but we've found a happy medium, I think.
I must admit - it's not perfect, and there are some days when I am too tired to wake up the extra half hour early, and sometimes I am guilty of getting distracted at work and leaving too late to give him much time before bed. But, you can see the difference the effort has made in his behaviour - I encourage DH to join in this approach when he is around in the evening/weekend, too, and it has been working pretty well, even if we're not 100% consistent with our time.