Yes, this was our life when our kids were younger. I was able to stay home, and had playdates during the day. But, even on the weekends, we had no time for anything but "hanging out'. My husband worked long hours and traveled, so weekends were our time to be together and chill.
Once the kids got older, our weekends were booked with sports activities. Baseball/softball, football, etc. Even though there were(are) times when we just want to chill out, it's become our social life, too. We are friends with the other parents, as well as our other kids(friends with the siblings of the players) We no longer schedule "playdates", it's more of a spontaneous - friends coming over after the games,etc. It definitely gets easier, the older they get.
*Let me clarify- it gets easier for them to help out and tidy up, clean etc. It won't always fall on you. It gets easier to have friends over, because they don't need much from you- they can get their own snacks, drinks- and don't need to be "entertained". "Easier' does not, however, define your day-to day. It's still a lot of running around to practices, lessons, etc- but it's seems more ...fun...I guess is the word. Hopefully, it's more of a social time for you and your husband, too. That's looking at that margarita cup as half FULL!! LOL!
Don't feel bad about taking time for your family, right now. Family is more important than playdates. Things will get better in this area.
Good luck!