How to get toddlers to participate in cleaning up?

It’s getting overwhelming and my usual tactics are coming up completely useless. I have a 4.5yo and 20mo and nanny 2 3yos. I know my younger son is still learning but the older kids just straight don’t listen. Even if I give them a number equal with their age to clean up, a circle as big as their arms can reach from where they are sitting etc. and I am cleaning alll freaking day and still struggling so hard to keep everything semi in order. They ALL just keep playing and pull out more toys. I’m going freaking nuts and getting really impatient and frustrated with this. If they can pull them out they can put them away they are ABLE and within reason, just participation.

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