As a parent of 4 kids (now grown), yes. It is never ending. The serene feeling comes when they are sleeping. Or when they finally start their own lives and you know you gave them the best.
Setting clear expectations and not giving in when they tug at your heart makes it easier in the long run.
Some mess is fine, like there’s a pile of laundry for me to fold and put away. Will anything bad happen if it is there tomorrow? Nope. So give yourself slack in some areas.
My son would only sleep if he was being held, as soon as he got horizontal for bed he’d be wide awake…It was a tough time.
We had 3 kids at that time ages about 7, 3, 1. And my eldest struggled to sleep also.
What solved it for us was putting two queen mattresses side by aide on the floor and just having the kids all sleep with us.
I understand the Western World often sees this aa a negative solution, but its common in other cultures for kids to sleep in the room as the parents.
The kids felt safe, and parents could doze a bit if the kids were awake, but at least not crying.
Once they got older we moved them back to their bedrooms.