It is hard when you are pg is the first thing I have to say lol.
I do bathroom while they are taking a bath. I use vinegar, water and tto so it is totally safe, no fumes to worry about.
I do the whole house every night including vacuuming. If I do it everyday it is easy. I also clean up the kitchen after every meal. My 2 little are just turned 2 and almost 4 and they clean up toys while I do the kitchen and then I vacuum.
It makes it much easier if all of your belongings have a home. I clean up after ourselves as we go through the day also. I only spend about 30 to 60 minutes to have everything clean.
When I was pg however things really slipped during the first and third trimester because I was just too tired.