A few things come to mind, which may or may not help:
1. One of the real difficulties coming and going causes in parents (I know this because of watching my husband, a career sailor in the navy) is the frequent transitions between adult-only and child-filled worlds. Children are chaotic, random, easily excited, act out their excitement in ways that make them and other people around them uncomfortable and have limited social and verbal skills until they're about 17. Going from this to predictable and back is very challenging, and makes you feel crazy for simple and obvious reasons. Be aware of the transition you're making on your commute, and you'll find it easier to adapt to the different energy and wacky-yet-normal behaviour your children are exhibiting.
2. Martha Beck's book (out of print, sadly) 'Breaking Point' describes exactly what you're going through very well, with some suggestions about how to survive it without resorting to drugs (amphetamines are wonderful for getting 'everything' done, because they take the place of sleep) or insanity, disconnection or other unhealthy addictions that create as much chaos as they alleviate, at least eventually. She describes how each woman gets to figure out her own 'philosophy and values' scale, including what gets dropped when these conflicting lives collide. She explains that women are the last to go from the home, after we lost slaves, servants and finally men to the 'world of the enlightenment' -- where every human is equal and free to pursue life outside the home. When men left, women remained, so someone was there all the time. When women left, no one remained, so no one was doing *most* of what needs to be done with a home to run smoothly in the course of the average week. No one is there for someone ailing, for someone injured or for anything else 'outside the norm' of our increasingly commercial-based world. Some women just make it clear (to themselves, mostly) that their work life will be sacrificed if anything goes wrong with home. Some women make it clear that the sacrifice will be home. Some hire help so the sacrifice is made my finances and someone else's time (going back to the servant times, really). Some women just zone out completely and stop engaging in both. Some women just suffer endlessly, feeling always at the wrong end of the teeter-totter.... but it is about knowing which will get dropped, so you can live knowing which it will be, instead of trying to keep both in the air all the time (when sometimes it is simply not possible to do)...
Meaning: you need to find your real values -- the ones you actually want to live (rather than the handful you've adopted from society, your family, school and life in general, often without thinking very much about them). Finding YOUR values will make it possible for you to always live knowing that you are genuinely living the life that supports the most important parts of your life. That will entail giving things up, although what those things are will ultimately be about your values, no one else's. And they need to be about your values, no one else's -- because this is your life, and you aren't going to get to go back in 50 years and say 'oh, I don't like that result, I'm going to live that period a different way now.'
To live a life that is not filled with regrets is to choose the life that will give you the most of what you want with the least of what you value sacrificed for it.
Personally, it only took a moment to do the math: my kids in daycare, even before & afterschool care would have cost the majority of my gross income, leaving us either with $34 a month 'extra' from my full-time work, or, worse, $121 less than I was actually bringing home a month. A huge proportion of families are in this circumstance, and what they are actually spending is the increased debt they can carry based on the two incomes, not the money they're actually making from the second one. It's not always the case, but it is at least worth looking at, because it may be yours, too. You have to count ALL of the costs of working, including the increased grocery bill for prepared foods, the increased clothing budget, the increased travel budget (because of the 'I'm entitled to this' costs involved in working full time) and the extra vehicles, communting and overflow/emergency daycare costs.
3. And, in my opinion, every family with 2 working adults and children NEED housekeeping staff, even if it's just the local 14yo who does 4 hours on Saturday mornings for babysitting wages.