how do you make it happen when you've got older kids who need you/need to be places/etc?
Not sure if that is rhetorical or not? 
At this age the routine needs to be baby led, but it's very easy to gain predictability and structure to your day.
I work backwards from immovable timings. So 8.30-8.50 school run. So I'd time nap for 7.30 (if up early) or make sure any nap after 8am was in the car seat and expect baby to wake up some time during the school run, feed as soon as we are home. 3.15pm for next school run, work backwards from that.
Ive got four children, a total of 15 out of school clubs/sports per week, daily school runs and a dog to walk. It's entirely doable. Indeed having a routine when you have a large family makes like infinately easier.
My big baby needs me too!
If you have a baby sleeping well, everyone gets more of you. A grumpy baby is a tired baby who needs to be asleep and a happy baby should be happy to have a roll around on the floor while I get on with stuff.
So I get stuff done and spend time with the other children either when baby is awake/happy playing or asleep. Which accounts for most of the time. Baby gets my sole attention for feeds and getting to sleep, but that's not huge amounts of time, compared to asleep or happy playing independantly.