Full Time Working Mom Schedule

I am blessed to have a job.
I am fortunate I love my job.
I am lucky to be able to leave my work at my job so I can devote time away from work to my family.

But I am busy.  Boy, oh boy, am I busy!  Here's an idea of a typical day.  From 5:45 in the morning until 11:00 at night, here's what I do:

Wake up, get showered, dressed, & ready for work.  Get Logan up, dressed, fed, and ready for preschool.
Drop Logan off at school, then go in to work.  Work until 4:30, then get Logan from school and head home.
Pick up Savannah from home, & take both kids to get their allergy shots.  Endure being pummeled by Logan for making him get shots.
Come home.  Exercise.  Shower.
Put in a load of laundry.
Fix dinner.  Clean up dinner (sometimes.  Most nights I have the kids clean up if they didn't help me cook.  It's a house rule.).
Play a game with Logan.
Finish laundry.
Get dinner ready for the next day (i.e. thaw out meat, make Jell-O, marinate meat, etc.).
Get Logan in & out of the shower.  Brush his teeth.  Read him a book (or two).  Put him to bed.
By this time it's around 9:00. 
Time for me to do some picking up around the house.  Then I do envelope stuffing and data entry jobs for my dad.  Occasionally I'll fit a blog entry into the mix.
Around 10:30 I'm wiped out.  I'll relax with a magazine and doze off around 11:00.

And you know what?  As much as I love my children and my husband and my life, I always feel like I'm not doing everything just right.  I'm not giving them the attention they deserve.

How do you do it?  How do you balance a full day at work with time with the family, yet fit in cleaning the house and fixing meals?  Please enlighten me.  I'm still working on it all!