Be clear on the expectations from. your kids. "Larlo and Larla, I won't be home until 6pm M-TH so Mrs. Jones will take you to soccer. Dinner will be a bit later too so I'll leave extra snacks out on the table. Also, would you mind walking the dog and also picking out what chips and fruit you want for school lunch and put them in your lunch bag". You get the idea.
Prep, streamline, and life hacks.
(I set the non-perishable part of the breakfast table before I go to bed the night before to streamline the morning rush...just so much easier when the toaster/bread is out on the counter already, place settings, water is already poured, etc).