I hear you, but I'll tell you what I tell my mentees:
Most of it distills down to being honest about your priorities. If you value relaxed mornings, relaxed evenings, and never feeling rushed before or after work, then there's nothing wrong with that. You're not obligated to go out with friends or allocate hours to hobbies during the weekday.
The problem comes when people say they value one thing, but when decision time arrives they do something else. If you have a hobby that requires 2-3 hours per week, then you make time a few nights per week to do it. If you want to go out with friends, then you make time to go out with friends.
Going to the gym is perhaps the easiest example. If you really value going to the gym, finding one hour three times per week is only about 3% of your waking hours. Find a gym located between your house and your office and travel time falls out of the equation.
Personally, I freed up an enormous amount of time by tightening up my schedule. Learning how to get out of bed, get dressed, eat breakfast, and get out the door in under 30 minutes was a game changer for me, and it wasn't even that difficult. Likewise, learning how to consolidate my chores and meal prep into small windows of time was an enormous improvement.
If you sleep 8 hours per night, you have 112 waking hours per week. If you spend 40 hours working and have a 30-minute commute each way (5 hours commuting per week), that leaves 67 hours of your own time. Even if you allocate half of that to chores and meal prep, you're still left with 34 hours, or basically an entire work week of personal time. Realistically, you're not going to spend 33 hours on chores, though.
It's all about priorities. If you don't want to real rushed or pressured during your off time, you don't have to, but you can't have it all.