I work FT and don't get home until 7pm. DD is 3.8 and DS is 20 months. When I walk through the door I just drop everything and spend half and hour rolling around on the floor with them and then do story and bed with DS then with DD.
I try to prioritise some kind of fun family activity at the weekend, and will often take DC's to the park on my own to give DH a break (he is SAHD).
I know this doesn't help those with the opposite problem, of being the person running the house largely, and doing primary childcare, but I don't think DH has the same issues, and I wonder if it's because of the unconventional division of labour we have.
For e.g, I totally realise how hard it is being at home with two kids, so if he needs shopping doing, he'll email me and I do it in my lunch hour and bring it home in the car. We do our big shops solo on a weekend over a lunchtime whilst DS is sleeping.
We have a cleaner. I know it's not something everyone can afford but by christ, it is the best £45 a week we spend as a family. It means we none of us do any proper cleaning other than mopping up surfaces in the kitchen and sweeping up debris from under dining room table. We don't do any ironing either.
DH IS constantly loading the washing machine and hanging it out, but beyond that I don't know what else he's doing round the house. He gets to focus on the kids. Food for the kids is either made and frozen in advance by me and or DH in the evenings (spag bols sauce, chilli con carne, sheps pie, fish pies etc) or is sandwiches, egg on toast, fish fingers type stuff that you can chuck together in 20 mins.
I feel we have a good partnership mostly bourne out of the fact that we both have an appreciation for what it's like to be in each others shoes.
DH loves to do the garden, and now the weather is better, they are all out there together having fun and digging etc. There are a million ways to spend quality time and you all sound so lovely it breaks my heart that you are killing yourselves with all this maternal guilt.