Yes it gets easier.
Organisation and routine are key for a family with 2 working parents - bags unpacked and repacked night before, dinners that are in the oven on a timer or just need pots turned on when you get in rather than lots of chopping and stirring and adding bits and pieces, learn to let go certain things temporarily etc.
When you walk in the door from work, priority is hot food fast. While waiting for food to cook, it’s time to empty bags and chat to DC about their day. Open washing machine (let it run while you’re out in the day) and throw clothes into dryer. Maybe repack bags then if practical (otherwise in the after dinner slot). Get DC to help with jobs while you chat - “what was the best game today, and can you get me a clean pair of socks please?” Kind of thing.
Clean dry clothes go somewhere in a basket during the week to rummage through if needed, but only fold at the weekend or a relaxed evening when watching tv - can be a good job to do together with DH (and even DC - pairing socks is a good small person job). My approach was to have plenty of clothes for all when DC was small so we shouldn’t need to rummage too often midweek, taking pressure off.
Some evenings that are more relaxed, or at the weekend when you are in the kitchen anyway (I used to do it while cooking a Sunday roast) make a big pot of sauce for the following day and to freeze some for the following week. Curries, bolognaise sauce, chilli, and even whole meals like lasagna, cottage pie, smoked fish and broccoli pie etc are all good to freeze.
While not for every week, learnt o shop online for groceries frequently. Try to do your major food cupboard items (pasta, rice, jars of sauce, bottles of squash, tins, etc) and cleaning items those weeks as well as enough fresh for that week. So the weeks you go in person are more about the fresh foods and having some time to See the conveniences available (some of which aren’t on the online shelves ...grr!). And embrace convenience- have good jars of sauce (fresh in fridge or longer term jars in cupboard), fresh pasta (cooks really fast), a few storecupboard items that can turn into meals (tuna, corn, frozen peas, eggs, cheese) always on hand etc. You can still do nice meals on non working days, and even still fresh on working days but they need advanced thinking and prep (night before peeling the veg or getting things from freezer etc).
If you can afford it, get a cleaner.
Build some time for you to clear your head for work. The occasional coffee en route to work after dropping DC to childcare. DH collecting one evening so you can go to the gym or for a walk/run alone/with a friend. Or doing the home childcare to let you get out one evening a week for exercise or a hobby.
I started a masters in economics when dd was 9 months old and my head for numbers had been completely scrambled when she arrived - but I made time to swim before Uni 2 a week, and I was also working FT again while doing the thesis from her being 17 months (I got 8 months out of the office for the academic year taught part). It feels like that time was a fog now, but I got through it and was put on a desk managing serious economic and political numbers just as the economic crash happened.
It was slightly hairier for a short while when she got to primary school as that was near home rather than a Creche near work, but it settled after a few months again once we figured out the new routines that worked. She’s in secondary now and I’ve been back travelling internationally for a good few years again and feeling on top of work.
And don’t forget to fake it til you make it. Men tend to not show any weakness or insecurity - whereas women definitely feel less confident in their ability and results even when they are doing just as well if not better than their counterparts!! Seriously!!