Anchovy and I have discussed this before
Yes, by five and seven, which mine are, life is dramatically easier. You aren't wiping anyone else's bottom/filling their cup/finding their buggy. I can get a bit of work done when they're at home, actually. And having friends over is glorious, because you leave them to get on with it, do whatever you feel like, and then tidy up afterwards.
With NT kids, which you have, it does and will get better. It really will.