I worried about this too, until I had a lengthy period where I wasn't working, and then I realized they basically do the same thing (play, hang out with friends) regardless of whether it is me supervising or not.
Also, I was looking forward to that after school time bonding I had heard about when I started picking them up, hearing about their day,etc. Did not happen. The kids kept to the pattern we established a long time ago -- conversations about what happened at school continued to happen at night, as I sat on their beds in the dark saying goodnight. I think my kids need time to think about their day, and right after school was too soon to talk. I assumed that conversation would move, but it didn't.