I can't baby wear because of herniated thoracic discs, everything really pulls on my upper back too much...so maybe I can help
gliders and bouncy seats seem to be very helpful and my youngest actually really liked sitting in her bucket car seat and I rocked it gently with my foot while doing things around the house like dishes or folding laundry
bouncy seats are good because theyre light weight and really portable and if I can find it again I'll try to post up one that I saw that was very low tech and very upright with the point being to let baby look around the room rather than be entertained by plastic toys.
for outside a comfy lightweight stroller was key and again, she could be rocked/glided in that while I did yard work or just enjoyed being out on the deck
also my family is big enough that we all sort of took turns with her
and Im very proficient at a one armed cradle/football hold for things that don't require two hands.
another thing you might want to look into are baby hammocks..I'm uncomfortable personally with the idea for a sleeping baby/mom but think theyd probably be really great for getting things done while baby is awake and a lot of them come with stands.
shes my most affectionate child (we get a lot of comments about this in fact) if that helps any and is very well adjusted at almost 4