As a working mom and Parent Coach, I help people do just this. The other moms have a lot of great ideas for you to try. I will share some overall points. The first is to seek the balance between structure and flexibility that works for you. Some folks are on the "no structure whatsoever" end of a spectrum. Some folks are on the "plan everything" end of the spectrum. Most of us fall in between, so find what works for you.
You might try keeping a log of what you are doing during your waking hours for a few days. You may find a few habits that take a lot of time which you can choose to change.
Remember, too, to set aside time for yourself and your family. Your kids are especially good at "living in the moment", so whatever they feel and see going on is what they will consider "normal". The fun and relaxation and connecting is much more important than getting the last load of laundry done or having the house look like something out of Better Homes and Gardens.
Release the pressure to be perfect in most things.
Here are a few additional time saving tips to add to the many you have. Planning ahead for meals, errands, etc. does save time and energy. SET THE EXPECTATION that EVERY FAMILY MEMBER will contribute around the house (at whatever level he or she can) and be part of the team. My sons (and husband) contribute a great deal and they take pride in what they can do and know it is very much appreciated. Hire some help if you can afford it. I have someone do some basic cleaning once a month, which then frees my family and myself for some type of project around the house, like paring down old clothing. When cooking good home-cooked meals, always try to prepare enough to eat off it twice or freeze half of it. Experiment with crockpot cooking to save time. Keep ingredients on hand for "quick meals" for those times when you don't have 1-2 hours to spend in the kitchen. Carry a cleaning bucket containing all your supplies around when doing chores. Use attractive baskets in main living areas to quickly gather loose items.
I hope this helps! Let me know what you plan to do!