Terrible at Planning, End up Staying Home on Days off

I’m a working mom, and my family and I live in the city. I’m not a good planner. Somehow when I take time off to be with the kids, I don’t plan in advance and then we end up staying home and it’s a bit boring/mundane, then I end up organizing and cleaning because I don’t get to normally, and then I regret taking the day off because I’m yelling for the kids to clean up, or I’m stuck making their 3 meals etc. kids are young- 4&6. Any tips or advice welcome.