And, Your child will grow up and be super proud of you
It is unfair to yourself for you to feel like you are only a partial mother/worker/wife/friend. You do the best you can and that’s what is important. Your child will not remember that you did not have the time to let him unzip/zip up his jacket, but he will remember that you helped put food on the table/put him through school//spent time with him/worked hard. No guilt necessary here