I felt overwhelmed on a daily basis, with my first dd, years ago. To be honest, I think for me it was at least partially depression.
My 2nd DD is 5 months next week. I was determined to do things differently this time. I keep the focus that if we are all safe and sound at the end of the day, then I have done the most important job. Everything else is gravy
I will NOT put off eating, drinking, going to the bathroom, or showering. Those are my needs, to be a happy mom.
In general, though, I try to go with DD's flow. If there is something I need to do, I try to make sure I am doing it at a good time (when she is rested and well fed). I also am ready with plan B - which is often to stick her in the bjorn and keep going.
What works for us a lot, is to move around. Pop her in the exersaucer in the kitchen while I make eggs for breakfast. Eat at the dining room table with her in the high chair, so we can "talk". Move from room to room, spending 10 mins cleaning in each one. A new place to sit, and something new to play with, keeps her well entertained (it does not need to be a toy - in the kitchen we are exploring the utensils one by one. at the moment she is in love with the potato masher).
I cook in bulk (make 4 meals of pasta sauce/meatloaf/chili/etc) at once, so many days there is very little prep stuff to do. And when I do cook like that, I do it in stages throughout the day.
With a baby, we can seldom get something specific done JUST when we want to. But if we look for the opportunities to get anything done, our days can be surprisingly productive.
I think a lot of it, is learning to go with the flow that you might be interrupted every 2 minutes. For chicken, for example, I would modify my approach so I didn't get hands that need sanitizing if baby fusses (use tongs, latex gloves, whatever).
Once DD is down for the night I go on a brief blitz and accomplish what's most important at that time. Tonight it was finishing a sewing project and clearing out our little freezer. If she wakes soon after going down, I try again once she's resettled. If she wakes again, I give up and leave it for another day.