Hi crayon. My dh never got home till at least 9 pm when my boys were small. (I know it is really hard, and I don't think it is possible to change everything at once).
I have a large gap between my dss and my dd, so I just had the boys for a long time.
I was lucky to work part time so I could collect them from school - getting home by 4pm. We could sit down and have a drink and a chat for about half an hour.
I used to prepare meals in advance...during the week we always had things like casserole, pasta with sauce, macaroni cheese etc, and I used to give them their evening meal at 5 pm, they were always hungry! So all I had to do was stick the food on a plate! We used to have roast dinners etc at weekends.
I used to put them in the bath together at 6pm, and read stories after that. Homework used to be done between getting home and having their dinner. However, once ds1 got a bit older, he would do his homework while I read to ds2. I used to get them to read me a story in bed - it was very relaxing and not a chore.
I can even remember when dd was a baby, ds2, who was then 7, used to sit in the bath holding her while I washed them both, and ds1 would be doing his homework just outside the bathroom door!
One thing we didn't do, and still don't, (or at least only very rarely if someone is ill, is early evening TV). It is such a distraction and a waste of time.
My house is and was always a bit of a muddle, but no-one can do everything!