J.M.
Oh, I so hear you. You expect pick up to be so great and fun and "tell me about your day" and instead it's "can I have a snack what are we having for dinner stop hitting me..." and it's downhill from there : )
This is what I find helps me - get stuff done in the morning. I am NOTTTT a morning person at all, but coming home to a tidy-ish home helps 1000%. For me, this means making sure that the dishes are in the dishwasher, the laundry is in the dryer, and at least knowing what I'm making for dinner. This is how I do it:
I throw a load of laundry in the washing machine right before I go to bed. We have a new-ish washer (nothing fancy) and I find that it's in fine shape for me to hang the next morning (you could throw it in the dryer). Then it can be just folded after the kids go to bed.
We make sure that at least the kids playroom is picked up before we go to sleep so there aren't toys everywhere.
I plan our dinners weekly and I just leave the grocery list on the computer. Then the night before I look at the list and figure out what we're going to eat. If I can manage the energy, I even do some prep (chopping veggies, etc). Cooking dinner twice isn't great, but it makes the next day so much better it's worth it.
Finally, I prep the kids in the car on the way home "When we get home, I'm going to need to do X,Y, and Z before we can play" (change my clothes, let the dogs out, take something out of the oven). Then they're prepared and it makes the whining a little better (sometimes).
Good luck.