I think the key is really all about planning and having the expectation that everyone eats the same thing as a family, so there's no faffing around trying to make different things to please everyone. It's a bit different as I work full-time and we both work long hours, but I imagine I wouldn't do things much differently if I was still at home (other then I'd have more time for planning and shopping, which I used to be able to do more of during the week days). I do two shops a week, Saturday and Tuesday (Tuesday one is online delivery though). On Saturday morning, I sit down for 30 minutes and plan out the meals for Saturday through Tuesday, and on Sunday I do the same for Tuesday through Friday. I cook nearly everything from scratch, though we might have the occassional like meal for 2 type ready meal on a Saturday night just for the 2 of us, or like I buy ready made fish cakes, but then make the chips and veg from scratch, that sort of thing. But it's 90% made from scratch every day. I plan it so I get double use out of certain things, so we might make bolongnese on a Monday to have with pasta and then it doubles in cottage pie the next night. Or I'll make a big batch of something everyone really likes enough to have two days in a row (lentil stew) and then I don't have to cook the next day. The planning is really key. We live 30 minutes from our closest shop, so no chance of running out to get something I forgot or because everyone changed their minds and wants something different.
Then I set aside an hour every night for meal prep. It doesn't mean I'm doing nothing else during that hour, but I know I have at least that. I get done work at pick my daughter up at 5. Then from 5:30/5:45-6:30/6:45 I cook dinner. She often helps with some of the prep so we get to spend time together and talk about her day (she's 4). She's helped me from about 20 months or so. Or if she doesn't want to, she can sit and draw at the table. Often from 6-6:30, she'll watch some tv or videos. About half the work week (2-3 days) I work 6am-7pm, so my husband does the same on those days. It means we don't do much else besides cook and do dishes in the late afternoons, but I imagine that's what most people have to do because life is busy and you have to get those things done. If you're home during the day, you might have a bit more flexibility to carve out time when you can do those sorts of tasks though so the afternoons aren't so manic. It's amazing what you can get done if you just take 15 minutes while your younger one plays with something on the floor in the kitchen, then it's all prepped and ready to go for later. Definitely second a slow cooker or an instant pot, and making extra and freezing if you don't want to eat exactly the same the next day.
And the other thing is just not driving yourself insane making special meals for everyone. When my daughter was a baby (up til about 18-20 months), she did eat separately from us because she went to bed earlier, but she still mostly ate the same things (leftovers from dinner the night before, which I used to cook for the two of us after I put her to bed). I only occasionally made her a different meal (like if we had a spicy curry). Now we all eat together and we all eat the same things. I've never made a big deal about her eating food, but if she doesn't eat, she doesn't get something else. I don't have time to be catering to everyone's wants. I make healthy, tasty meals and everyone can eat what they like or not if they don't, and that's mostly worked. Same with my husband. I also used to be a vegetarian (I do eat meat now as I found my diet just needed to change after I had my daughter). But though I eat meat now, I didn't for like the 6 years we were together including up til about when our daughter turned 2. The rule was, I did most of the cooking, if he didn't like eating vegetarian, he was welcome to cook something else to supplement the main meal. So if I made a vegetarian pasta, sometimes he would come home from work and cook his own sausages or chicken to go with it. Everyone was happy that way. He got what he liked, but I wasn't running around stressed making 3 different meals every night.