its tough but it is do able! we follow a very similar routine
i get the girls dinner ready prior to 5pm, usually by 4.30 if i can and sometimes earlier whilst DD2 is still asleep, they eat at 5.30, bath at 6pm together (DH usually gets home at 6pm, he takes over the bath and i run around getting bed stuff ready, out of bath around 6.20pm, we take one girl each, then its book and boob (for dd2) then bed.

with DD's dinner what i found easiest in the beggining was the save her a portion of our tea from the nioght before and reheat it for her, saves cooking and time!