You are a SAHM, right?
I am too.
My daughter has Karate in the evening.
I have the same "problem" as you. I also have a 3.5 year old at home.
What I do is this: I ALWAYS cook and prep dinner in the morning... everyday. I do this because the afternoons are too busy for me, and my eldest child is home at that time too, and they nap and we do other activities in the afternoon, with both my kids.
So, I cook in the mornings. THEN that way... by dinner time, dinner is ALREADY made... and we can eat at a decent hour. And I don't have to stress about it.
The point is: dinner does not have to be made at night in the evening. It can be made any time.
My dinner for tonight, is already made in fact! I made a huge Taco Salad.
Then, before my daughter's Karate class in the evening, I make sure she has a snack BEFORE we leave the house for her class. My son too. Then that way, she is NOT famished.... after Karate, and does not spoil her appetite for dinner, on the way home, with in the car snacks.
Then when we get home, like at 7:30pm, Dinner is already made, I just warm it up or whatever, and we eat. NO rushing, NO snacks spoiling their dinner, and much more efficient.
Or, if my Husband is home, while I am out at class with my kids... I leave a note for him in the kitchen on what to do to heat up dinner... so that it is all DONE and READY, when we come home.
That is my solution. It works.
all the best,
Susan