No self care

I know self care is important but I think I've got myself stuck in a rut where I've convinced myself I dont have time for self care. I've really been wanting to take a long hot bath to relax all week instead of a 5 min shower. I dont typically get to relax if my 3 year old is awake cause she plays in the bathroom and splashes in my bath water while I'm trying to take a bath. My whole house is asleep so perfect time to take a bath right? My brain says no because what if my 7 week old wakes up and needs me. Most days my breakfast is a lukewarm cup of coffee by the time I actually get to drink it.

My typical day is waking up feeding the kids. Making myself a cup of coffee. Then starting house work. Hubby comes home for lunch and typically I make his lunch.get my 3 year old lunch and make the baby a bottle. Most of the time I eat something small after my hubby goes back to work from his lunch break. At 5 he comes home from work and is usually starving and starts asking what's for dinner and will kinda nag every hour until I make something. Then around 8 I'm trying to get everyone ready for bed. My 3 year old wants story time and we are in the process of getting her to sleep in her own room. Gotta feed and change the baby get her in pjs turn on her lullabies to get her to sleep. And the hubby wants cuddles which most night I dont get to because of spending so much time getting the kids to bed. So late into the night is when I get me time but I am too paranoid to do anything because I'm worried the baby will wake up as soon as I go to do it.