For us, it helps that actually school time is easier and we have more time than we did when ours was in nursery. When she was in nursery, we didn't collect her until 5 and had to do all that in only 3 hours. Now I have a whole 5 hours to get it done, which feels luxurious! Some days I feel like I have too much time in the afternoons. I only have one for now though (pregnant with #2), which I suspect makes it a bit easier, and certainly bath time will take longer with two. But my husband is home usually by 6 every night, so we have both hands on deck in the evenings and then we'll each take one.
But I collect her at 3. We come home, get changed, have a snack by about 4. From 4-5:30 we do some sort of activity, so this can be reading, doing any sort of home learning, time doing the reading app she is supposed to do each week, prepping anything that needs to be done and sent back in for school the next day, going to playground, drawing, playing in the garden, whatever. Then at 5:30, she can watch tv or play on her own in the lounge for an hour. I cook dinner. My husband comes home and does the washing up. We eat dinner roughly 6:30-7, upstairs for bath 7-7:15, lay out uniform for next day, and she is in bed and asleep by 8.
A lot of it is just being ridiculously organised and planning a lot out in advance. I have a somewhat stressful professional life and I have to work somewhat non-traditional hours (some long days, evenings after she's in bed, weekends) so I plan everything or else it will all just descend into chaos. I think that helps.