Oh boy, can't I empathise with you Ted! Thankfully mine are now 9 and 7, so they do have some self independance. While they are still up at 7 every morning, they can do most things to keep themselves entertained and (for breakfast anyway) fed.
What you need to do is still make time to do some things that you want to do. For instance, I have gotten myself into a bit of a lazy rut, simply because it was too hard to do anything without boring or upsetting the family. This morning, I decided to get up at 5, take some photos (basically ANYTHING ) and I was home by 8. The wife was still in bed, the kids were watching TV and eating cereal. My girls didn't know I had even gone out!