I've been told that it gets better when they're a bit more self-sufficient (ours are 4 and 1), but then you end up just ferrying them around different activities instead…
Changed jobs about 8mths ago which has enabled me to commute by bike which has made a massive difference as I'm no longer that bothered if I miss out at the weekend, plus its easier to extend the ride in or out to make it worthwhile.Prior to that it was early morning starts or late evenings often solo.
Perhaps there should be a stw dads (and mums) club for arranging early morning rides