No, there is no one single answer that will suit all families whilst not being onerous on teachers.
However, using a variety of approaches mean you can please and piss off everyone over the course of the school year, rather than always pleasing one or two groups and pissing off the rest.
Firstly, communication. This really matters. I sometimes thing schools can forget that families go to great lengths to make sure their children attend school properly and arrange working lives, children's activities and siblings around this. So what is coming up in school needs to be communicated clearly (when, what, what your DC needs for it) and in good time (it is the same amount of admin effort to send a notification in good time as at the last minute, and much better for all families whether working or not).
And the bit I can't say strongly enough - and even though it should be stating the obvious it still needs saying - all school staff need to be reminded frequently that parents may need to make arrangements around school even dates and things like shifts at work and siblings medical appointments cannot be rescheduled on 48 hours notice or whatever. Late changes should be exceptionally rare.
See if a PTA rep can be invited to attend any school meetings where communication with families will be discussed, so there is a chance for the parents view to be considered.
Secondly, actual events. Some have to be in the school day. There should be a balance of those in the morning (not long after drop off), afternoon (run up to or immediately after pick up) and evening. Some will suit some people, depending on working patterns and if they have other children to consider. But my aim here is to spread the convenience/inconvenience rather than having it all set at one time.
Thirdly, the school needs to send out good leaflets for those who cannot attend information events, and do so promptly. It always slightly boggles me that, if the school wants you to know something badly enough to run an event about it, it's not automatically and self-evidently important enough to provide information in other forms too.
It's all about finding a balance. There isn't a perfect one. And of course there probably will still be parents who turn up to nothing.