Mommy time/ whenever I can get it

Pierre Van Zylbedtime, boxes, emergency medicine, kids during training, morning routine

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How do you fit your “mommy time” in?
I love residency. I love what I do, love my work colleagues, and am so thankful for my attendings and program director. I could not have imagined a more supportive community. 
One thing I’m grappling with right now is keeping any sort of structure for my kids when I am at home. When I am at work, the house runs like clockwork. My husband gets them to school on time, the nanny has them fed, brushed, bathed, and in bed by 7:30. No fuss, no problem. 
But when I’m around, it’s chaos. And not the controlled choreographed chaos of the ED. It’s pure, unpredictable, chaos. For example, this morning, all before getting to school by 845 (very late- they start 745), my daughter “ran away” from home down the block, the kids put on a puppet show, everyone ate pancakes, and only then did we start getting ready for school. 
As an EM resident, my schedule is varied. I work a lot of later day shifts (10-10) or mid shifts (2-2) and at least 2 full weekends a month. I usually average about 1 dinner/bedtime/bathtime home a week. During that night, we try to fit in all the homework for the week, I try to hear all the stories about their friends, cuddle time, book time, story time, song time, just-be-with-mommy time. Needlessly to say, bedtime gets substantially pushed off. On the mornings when I’m home before shift, I’m usually exhausted, but, as I have not seen them for 2 or 3 nights already, we morning cuddle, make pancakes, read books, play dress up, etc. Trying to fit all this “mommy” time into the 1 hour or so between wake up and school is impossible. So we are late. Consistently. 
I know that once they are older, getting to school on time will be more important, but it’s been a challenge to balance between maximizing every second I get to be home with them with sticking to a routine. Some days are better than others, but I’d love any tips! 
How do you maximize quality time when you don’t have the quantity time to give? How do you balance discipline/structure with just enjoying their company?