Any tips on how to create a routine/schedule around keeping the house clean and tidy?

I completely understand you. My husband and I are both at home, but we still struggle with keeping everything clean too (although honestly it’s not as bad as it feels sometimes).
I usually try to clean while my baby girl is awake, and rest when she naps. Because of that she slowly learned how to entertain herself for a bit. Of course we still spend time playing and doing activities together every day, just not during every single wake window.
What really helps me is having a dishwasher. While it’s running, I can quickly tidy the kitchen instead of using all my energy just washing a mountain of dishes like before.
A tumble dryer has also saved us so much time and space. I no longer have to hang wet clothes everywhere around the house, and it actually helped get rid of the damp/mould problems too.

Stop ironing 😆 it's one less thing to do and it really doesn't matter

How old is he? Because I couldn't get much done until past 6 months and even then it wasn't loads. We built up independent play and when my daughter was old enough got her involved with cleaning/pretending to clean. The house still isn't perfect. But we've done little things like tidy time after every meal, she will play on her own or she will help ("help") and we tidy up her toys with her at the end of the day. She's 3 now and I'd say I've been on top of things since she was about 2 and even then it can still fall apart in what feels like minitues 😂 Be kind to yourself. Either you or someone else (I don't hear anything about a partner so not sure) has got way too high standards. If you want to rest, rest. If you want to play with your baby and enjoy your mat leave, do it. Get out of the house, then you're not looking at your to do list because you're physically unable to do it when you're not there! You're doing great. It's really important to look after you as well.