I feel for you because homeschooling is a very energy intensive undertaking and can really take over your homelife. Why did you start homeschooling in the first place? Has it been successful with your son? What needs of yours are not being filled now and are there other alternatives to quitting the homeschooling to meet those needs? As for managing time, you can use a more structured program tha does not require that you come up with all the material each and every day from scratch. You could use a program like WAVA, Washington Virtual Academy to make sure that you get all the academic bases covered in 3-4 hours and you will have plenty of day left to have fun, teach those other values, etc. Your son may want to continue homeschooling because he values that time with YOU, the most important person in his world, much more than being stuck as a number in a 30+ kid classroom. What is the quality of your neighborhood school or the place you would be sending him? I ask because it is best to be informed BEFORE you end up trying to solve a minor problem only to get into major ones.
Finally, public schooling could actually take up MORE of your time and add to your stress immeasurably. The time to wake him up, make sure he gets ready for school at a certain time, track the progress of his homework, counsel him on getting along in that group setting, keep in touch with the teacher, volunteer for PTA, classroom projects, etc. would be the tip of the iceberg for an IDEAL situation. That time would pale in comparison to the effort you would have to spend if and when your son had academic difficulties, suffered bullying, abuse, or other behavioral problems, or even had a less than stellar teacher that year and ended up with academic, or emotional deficits.
I homeschool an 8 almost 9 year old girl and a 3.5 year old girl. To lessen my own stress, I set aside an hour for ME to exercise, we share household chores with my daughters doing some of them, my husband helps when he can with academic and parenting work, and we use WAVA, a structured program that we get for free and can tailor to our needs which provides all the materials, directions, lessons, etc. in an easy to follow format that has really kept my daughters interest and encouraged her to become a more self motivated and guided learner.
If your relationship has become strained because of discipline issues, like not doing the work, etc. then public school may not solve the issue. Instead of straining to have him do your homeschooling work, you will be struggling with him to do his homework and succeed at school.
I don't mean to say that your situation is a cop out in any way but am trying to give you other alternatives that may work and give BOTH you and your son what you want.