I am with you, OP. 5-7pm is the hardest time and I also have a 1yo and 3yo! We do a PBS kids show for 30 minutes while I prep something quick and easy (scrambled eggs, steamed veggies, chicken nuggets or premade frozen meatballs, mac and cheese, etc). This usually takes care of the 3yo but the 1yo may or may not be clamoring for me in the kitchen
My DH works long hours but does try to come up from 6-7 to help with bath etc. But on the days he doesn't, if the 1yo isn't covered in food, then no bath for sure!
I also very much agree with PP that me and my DH eat together later (and quieter) but i sit with the kids and nibble and this counts as family dinnertime to me!
Do things that make it easy for you, you're not incompetent. it's witching hour!