I have three with one on the way. It’s a constant struggle to keep the place livable. Before I had children I was not a neat person and kept things livable by not doing things that made mess and staying out as much as possible. Can’t do that with kids, so what’s the trick?
My late mother’s method was to put her children to work. From an early age we did almost all the housework - dusting, vacuuming, polishing brass, ironing, dishwashing, and helping with laundry. We hated it, but the house was always clean and tidy.
I don’t have kids, so I live in mild squalor.