Don't worry -- my kids are grown up and I still don't have time for my home actions.
You can set a timer for 2 minutes or 5 minutes, tell the kids it's action time, and give them each a written list of things to do while you do your list. You can make their lists simple and easy, like "put toys into toy box". If the kid doesn't know how to read yet, they can ask you or an older sibling to read their list to them; they may be able to read at least the first letter of their own name at the top of their list. You can put little pictures to illustrate the actions. You can give the kids choices or suggest that they write their own lists.
You can give your kids choices like this: "Sometime in the next few days I'm going
to be emptying out all the kitchen cupboards. When I'm doing that, do you want to be helping me, or playing quietly in the next room, or would you rather be with (other adult)?" The other adult could be a spouse, grandparent, babysitter, other family you take turns looking after each other's kids with, etc. Then you can schedule it accordingly. There may be advantages and disadvantages to doing it this way.
You can decide that it's more important to you to spend time with your kids than
to do X, and delete X from your action lists or move it onto a someday-maybe list.