Yes, it's a constant rush/stress/being pulled in different directions.
I'm late 30s with a 4 yo. I WFH 2 days and in the office 2 days in a stressful and high pressure job. Often work on my 'non-working day' due to client demands.
In my experience:
Under 1 - poor sleep, weaning is awful, brain dead during mat leave with a baby who had such bad reflux we all needed 3 spare outfits if leaving the house for any substantial length of time.
1 - 2 years - return to work guilt, constantly sick baby (and we caught everything too) when they start nursery. Vitamin deficiencies for me and generally feeling like crap.
2 - 3 years - feels a bit easier with sleep and food, but you're firmly into tantrums which slow down the morning/evening rush pre and post-nursery.
3 - 4 years - food and sleep generally good, illnesses improved but the "I want to do it" kicks in and tantrums/emotional dysregulation still high.
I couldn't do my job without my husband having a very good amount of flexibility - and now not working. Now DC is at preschool he does almost all drop off and pick ups and most after school and holiday care. I spend my life feeling guilty either because I'm not with DC enough or because I am dropping one of many balls at work. It's stressful.
Having said all of that, if you can come to terms with no more lie ins, very little free time (because you're either working, parenting or if you're lucky, sleeping) then you'll be rewarded with an awesome little bestie who makes you laugh so much and beam with pride- for me right now that's DC counting to 50 and starting to read and spell, as well as developing lovely little friendships. I do miss my old life of fancy restaurants, lie ins, boozy weekends and general ability to do whatever the hell I liked - but I wouldn't change it. Having said that, we're sticking at one!