J.W.
When my kids were younger, for a while, I went in to work extra early - got there at 6am. My husband and I both had jobs with some flexibility about starting and ending times. I missed seeing the children in the morning. They helped lay out their clothing the night before. It was so cute - them asking about the weather forecast. My husband got them up and ready for school / preschool. I always had a phone call with them. Now-a-days we would've had video too!
Then, I got off work early and picked up kids, ran around with them, walked and played with my dog & them, had the older do homework, and had dinner ready by 6pm. Hubby got home around 5:30.
This worked amazingly well for us.
Every Saturday morning, right after breakfast was major chore time - everyone cleaning house (yes - right down to the 3 year-old ) they had daily chores as well).
My husband did a lot of the chores on the weekends, and always cleaned up after dinner since I made it. That was really nice for me because by then, I'd had a long day, and of course, it wasn't over.
I always started preparing for dinner the night before. I'd do things like prepare a meatloaf and put it in the fridge so all I'd have to do the next night is stick it in the oven. Or I'd get a crockpot full of food ready for the next day. We always had lunches ready and in an extra fridge in the basement (this was when we had 5 children in the household) so all the kids had to do was grab their lunches in the morning.
So, I guess key was teamwork and really prepare each evening for the next day. Which also means weekly planning for the week ahead. We did not have chaos in the mornings, and they were relatively peaceful. At least they were when the kids were young.