Don't do it - seriously! If it's causing so much stress and conflict, it's not worth it (I'm a teacher ) discuss it with their teachers and explain that for your family - it's not working!

THEN Give them a choice and reward them if they "choose" to do it - maybe a sticker chart with something after 5, 10, 20 sessions? Obviously, at some point they will need to do homework ( high school) but at least by then they should be more independent.
I like the reward chart idea, thanks! I have spoken to the teachers and explained that some nights we just run out of time, both are very understanding and have basically said that if you get to it great, if not not to stress about it. But I do stress about it lol.