There's no job too big or too small that can't be tackled with team work. Make sure everyone has set and firm routines to follow for helping. Give ownership of roles. Don't sweat the small stuff. Clothes can stay in baskets.
Sandwiches make good dinners.
Don't let your own memories of how you think it was when you were a kid make you crazy. You'll have a better time if you make time for fun. Slow down the pace. Have young children sleep in the next day's clothes once in a while to streamline the next day. Eating waffles in the car is a treat, once in a while.