Working out with 2 kids

I want to start the year with a healthier lifestyle for my family. My husband and I talk about wanting to workout all the time but it just hasn't happened yet. We both work during the day and get home from getting the kids around 5. Then we obviously have to do dinner, baths, and bed. We talked about staying up 2-3x a week after the kids go to sleep but we are do exhausted. Any suggestions on how to workout with a 1 yr old and a 2 month old? FYI they never take naps at the same time 😑