DH and I stagger work hours. 2 kids, both in middle school.
I get kids up, fed, and take care of general family stuff. DH takes kids to busstop/school and leaves the house at 7am which is what time I start working. I finish my workday at 4pm and take care of pick up, homework and dinner. Usually he is home before any evening driving has to happen but usually it's me who takes a kid to the earliest activity, and he'll get the second one (on days that activities overlap).
We are both long-term employees at our firms, and have some flexibilities with ending a day early, if needed, to go to a game or something like that. We try not to take advantage and our kids know we can't both make everything but between the two of us, one parent is at most games or big school events. We also use PTO if needed, like today, I'm taking an hour to go to my kid's unexpected game because they need to be picked up and can't take the bus home. I'm leaving my house at 2:30 but I've already put in 7.5 hours of work, so I'm not super fussed anymore about cutting a day "short".
My kids do a club sport and sports with their school. They are both in one additional non-sport activity that meets weekly in the evenings. We gave up on music lessons due to time constraints which I sometimes feel guilty about, especially when I hear their friends play.
There's no way to get around being exhausted. We try to keep positive about all of the running around because some days, it's mind over matter.