When I worked 3 days a week this was OK because I cooked more on my days at home and froze stuff or had a bake ready in the fridge for Weds night etc. Also DH works from home some days so on those days he prepares dinner during the day.
However ds eats at about 5pm at the child minder so doesn't need a full meal when he gets home so we don't often eat together in the evenings anyway.
Since being back at work 4 days a week and having a few weeks where dh is not home much at all I have given up all pretence at trying to eat with ds in the evenings . It is too stessful.
I walk in the door with ds at 6.15pm and I spend the next 1-1.5 hrs getting him ready for bed and chilling out. We may have a small snack together if either of us is hungry. Then after ds is in bed I eat something quick and then I sort out stuff for the next day.
I hasten to add that I cook all ds's food at the childminder so for instance this Sunday I cooked pumpkin risotto, Shep pie, chicken escalopes and meatballs - all to be frozen in small portions for ds to eat in the week. That was in addition to cooking our normal meals for the weekend which we all eat together which are not always the same as I cook for ds because dh is vegetarian.
I figure already cook ds's food for every day (lunch and dinner) and I have to fit it in my 3 days off a week so any more stress is just too much.
My advice would be to eat together as much as you can and not stress about when you can't. one other thing is when ds was 12 month old he was regularly asleep by 6.30/7pm so even a bath was too much most evenings when I worked. He just had a quick wash, pyjamas, teeth and bed - if I tried to make him stay up longer he would go into meltdown. Now he's a bit older that is less of a problem.