My kids are in high school, and I work from home about half the time, so I have a nice window. I usually work out from like 7:15-8:15. If I have an 8:30 call, I just adjust and make sure I'm done on time.
I usually have half a cup of coffee and eat a graham cracker before working out. Mostly run, sometimes weights or yoga.
I don't like after-work workouts because by then, I'm usually tired, stressed, or hungry. Or all of those things.