The hubby & I are definitely type A too! We also work full time, and my husband is in the military so there are many weeks that I am flying solo in the house.
Here are some suggestions (and I by no means have the handle on my house that I would like... but it's a start for me):
Assign a basket (small/large, whatever suits your needs) to each person--random things that get left around the house (shoes, toys, books, etc) get dropped into the appropriate basket and must be emptied and put away by the owner each night before TV/outside/fun time.
Everyone clears their own plate/cup/utensils directly into the dishwasher after dinner (even my 3-yr-old does this).
Clean up cooking utensils/pots/pans as you go. As an example, while I'm waiting for the water to boil for spaghetti, I'm unloading yesterday's clean dishes from the dishwasher. After I drain the pot, it goes straight into the dishwasher; one less thing to clean up after dinner.
Serve out of the cooking dish--don't replate it into serving dishes. Just means more dishes to clean in the end!
We have 3 bathrooms--2 regularily used, 1 not-so-much. We deep clean one bathroom a weekend. The other 2 get top-cleaned only.
The hubby vacuums while our daughter and I dust. We try and do this on a weeknight because as you know as a working mom, our weekend time to do things together is so precious.
Plan out meals in advance, freeze, reheat. When I make spaghetti sauce/taco meat/pot roast, etc. I always make a double batch and immediately freeze half to eat later. That way I'm cutting my cooking in half over the long run.
I'm sure others will disagree, but my floors only get mopped once a month. I spot clean along the way if needed.
I guess more than anything, I accept that it won't all get done. I also try to break it up into manageable chunks of time and expectations. If the house doesn't get dusted this week... it'll be there next week when I have time or feel like doing it!
Good luck!