D.,
One thing I know works for me is to declutter my life. Get rid of all the stuff you stare at daily that stresses you out. You ask, when do I find time. Take a day off and make it a project. Take it one thing at a time. Papers this weekend, closet next weekend, and make a goal that you want to do XYZ by XYZ. I find this gives me something to work with.
Make your life easier by planning meals. I realize if I have an idea what I want to cook, then I don't lose time I don't have trying to figure out when to do it. I don't know about you, but I don't cook every day. I use left overs when I can. So maybe on Sunday you cook a huge meal that will last until Wed, cook again on Wed and on Friday you do take out or order in for the family treat.
As for cleaning, I am like an octopus. The moment I walk in I can spot things out of place, so I pick up as I go. I have a home for everything. Organize what goes where. Shoes go this place, toys go here, bills go here, clothes go there, etc. That way as soon as I see a toy or something out of it's home, I get the kids to put them back or I grab them here and there. I set aside Sat for cleaning, shopping and I plan that day as well. Make it that every Sat or Sun you do this this and that, and again it is planned and expected.
The major places that need to be kept clean for me is bathroom and kitchen. I set aside time to do those. I love to use gadgets, slow cookers (cook while I take a shower), blenders, dishwasher, lysol wipes, etc anything that make my life easier.
I purpose to take some time for me and let hubby know he has kid duty for an hour or I take the time before I get home and face that challenge. I also purpose that I play with my kids for an half hour or so for exercise and for quality time.
I realize I cannot do it all, and there are times I just don't do anything but leave the house and go socialize with friends. The chores will always be there.
So what I am saying is de-clutter, organize, shedule, plan, have a goal, relax and let it go sometimes. You can do it albeit not easy or perfect, but it takes some discipline! Good luck!