These are the trade-offs. I can hop on my bike mid-day when they're off at a park, and I have a break in meetings, but that's incredibly rare and not a schedule.
We recently bought a rowing machine to help with the regularity part of our fitness. Not needing to leave home is certainly easier than having to go somewhere with kiddos.
The important part in my opinion to to keep active. Even 20 mins a day is a big win.