How to establish a routine?

I have a 9 week old, exclusively breastfed. For some insane reason I can not bring myself to give him formula, even though I bought it weeks ago. We haven’t even opened the pack. Any time I’m exhausted and almost delirious from lack of sleep, I tell my husband to make some formula but then the baby looks at me like I’m betraying him and I feed him again.
He used to sleep a lot more during the days and now it’s getting very hard to put him down for naps. I don’t think we do enough tummy time, I also feel I’m not bathing him enough. If we don’t go out then I feel bad, when we do go out I’m always in a panic mode. My husband is very hands on and he is doing all he can with his full time job but I feel a lot of decision making is still on me. I’m feeling overwhelmed and I read about people having a night time routine, going to libraries, play groups. How is everyone doing it? Here I am struggling to just bathe my baby. I just want to have somewhat of a predictable routine.