It does get easier, but you can put processes and routines in place, and be proactive now, which will go a long way to ensure that it does indeed get easier, rather than leaving it all to chance, and hoping for the best.
I wish I had encouraged my DCs to help around the house more when they were younger, for example. When they are little, they love helping, it's a game to them, but it's often quicker, so therefore easier to just do it yourself. Doing chores together can count as quality time, as you teach them and chat, but I didn't realise this.
From a young age, you can teach them to place out their clothes in the morning, and pack their school bags the night before, to put their own clothes in the wash basket, and help tidy the bathroom after their bath, and make their own bed daily. Make it their job to fill their water bottles, get their PE kits ready, do their homework. Before you know it, these will be routine & you won't need to nag and remind them.
I work in a school, and the number of children who regularly say "My mum forgot to pack my water bottle / put my spellings in my bag / give me my swimming kit" - it's unreal!
School staff can spot a mile off the children whose parents dress them and do everything for them - these children present as very entitled and it comes as a shock to them that the word doesn't revolve around them.
One five year old girl sat for a whole playtime one day, waiting for us to put her wellies on. None of us would do it and she missed her playtime.
Think of these things as investing in your and their futures - you will reap the benefits ten fold eventually, for putting the work in now. I was too frazzled and time-poor at the time to realise this when mine were younger. It also sets your DCs up for a lifetime of being organised and being able to forward plan, plus being independent.