Yes it will get better and you will stop feeling tearful, but ime you never stop feeling torn, ft, pt or staying at home.
I went back part-time and could never quite kick the feeling that I was not doing anything right - did not have enough time for the kids and was not really putting my all into the job either.
Full-time was exahusting and later I stopped working for a while again, which was great for the kids for a while, but left us broke and me a bit bored. Also, stay at home Mums tend to get far too involved in interfering in school life and obsessing over trivial problems, like child being wrongly sent out of class or child and best friend having row. Better to let some of those things slide, both for you and the kids (I know this is a massive generalisation, but it is easy to do).
There is good stuff about going back to work. I never expected to enjoy the baby bit of child-rearing as much as I did, but your world does shrink.
It felt to me like the first time I ever looked down a microscope. I expected it to be dark and yet it was incredibly bright and detailed and sparkly. There was so much there that I never knew was there. So tiny changes in your baby seem incredibly fascinating. In the same way, going back to work felt a bit like straightening up from that microscope and taking notice of the world around me. I lost the crick in my neck from cradling a baby, and I suddenly did not need to walk at toddler speed; I could stride out.