No Zulu, you are not paranoid or going off your noodle, you are a normal working mom trying to juggle it all ... and unfortunately dropping a few balls along the way.
I can't offer you solutions that work in your world, but I will only indicate stuff that I do to keep me sane (or a bit sane):
The guilt unfortunately has no remedy - there is hardly a day that goes by that I do not feel guilty, but over time I have learnt to lock the screaming voice of guilt into a cupboard and turn up the music so I do not hear her annoying voice.
I must confess trying to do hair, nails, and waxing is just not something I get time to do. I make appointments for waxing at 7am - so again it is not trying to juggle it after hours.
I gave up on the hair a long time ago - and probably get there about every 6 - 7 months at the moments.
Nails - this one I do try to keep, but I get there every 3rd week or so, and it is a hard won hour, and usually takes juggling of giant proportion.
I have also moved running/gym or anything along those lines to 5am slots - it is insane to roll out of bed, but then I can go and do what I need to do, I get home and kids are not even up yet, so I am the have a quick shower and be ready for when the stuff starts ..... I hate the getting up, but if I want to go and do it, it really is probably my least guilt ridden time.
I schedule as little as possible - if I can - between 17h00 and 19h30. As that is when I am sorting kids out.
If I want to go and see a friend or get together for dinner with mates, I get home and sort kids out and then get them into bed bbetween 19h00 and 19h30 (my youngest goes at 19h00 my oldest goes at 19h30) so I tuck them in bed and kiss them good night and then fly out the door.
That way I still do with them what I would normally do.
Sure I arrive to meet friends looking like cr&p because I am rushed, but at least I am there and have made the effort to have some sort of social life - also my kids are in bed and asleep, so I do not feel waves of guilt.
If I have to shop for something I attempt to do it on-line or in my lunch hour (as if I have one) - the days of spending hours trawling shops it long long long over for me.
I rush in grab and run.
Every now and then I get 2 - 4 things that i need to do, and then I schedule them together, and spend a Saturday attending to me, it mine mean hair, buying those denims I need, or buying that present for my mate or what ever, but I plan every now and then where I need 8 hours to do stuff, and then I organise for DH to be available or a baby sitter or what ever to do the things I need to do.