Your house is lived in. It's not a show home. That's ok.
Don't tidy up too often. If kids are awakez they'll be toys and cushions out everywhere. Expect that. Accept that. Tidy up with the kids before bedtime/dinner time - make it part of your routine.
Make sure everything has a space to go/to be out away. Have a clear out of toys no longer played with/less often played with. Less to play with, less to get out, less to tidy. No less fun though!
Clean with the kids. Little and often. Get kids to help tidy up after breakfast/lunch/dinner as routine (simple - like taking bowls into the kitchen!). Give them a duster and a job (skirting boards, their play kitchen/whatever). Don't be too precious about cleaning. Pick your priority areas and focus on those for 15m at a time.
When kids are contained and happy in the bath, clean the bathroom around them. Rinse the bath after every use!
As soon as your come.back downstairs after bed time, stick the washing machine on a quick wash cycle and hang it before bed. You can move the clothes horse out into the garden the next morning if it's sunny!
Meal plan. Pick an evening, the night before you go food shopping/receive delivery of food shop, sit down with paper and pen and plan your meals for the entire week until your next food shop and write your shopping list. It saves money too and cuts down on waste, it saves you the time of having to look through the cupboards to see what you have in and the time to work out what to cook because you already know. It gives you the opportunity to try new dishes because you can make sure you have all the ingredients in advance easily. You'll buy less things that you don't need.
Get a slow cooker. Use it. You can prep it the night before and stick it straight on the next morning ready for dinner that evening at a reasonable time.
Take time to yourself. Pick an evening. Claim it.
And the TV is not the devil. Let the kids watch 2 episodes of something to give yourself 20mins to food prep or clean one small area or do one small job if you need to, or to simply exist with a brew.
My kids are 3 and 1, my DH is away with work a lot and I also work part time like you. We are out every day having fun, he house is tidy enough and clean enough at the main touch points. It isn't deep cleaned too often! We live here.
Go easy on yourself!
Good luck