One trick that I like is to limit your to-do lists to a small amount of the most important things for each week! That way you’re not overwhelmed by an incredibly large amount of things you can’t get done (and would feel guilty about even when you realistically couldn’t have done it all).
Limiting the number of things to do to three tasks a day/week/whatever time period that is reasonable for your mental health helps a LOT, too. Also, breaks. I follow the Unfuck Your Habitat 20/10 and 45/15 models for not just cleaning, but to complete other tasks without ending up under that rock.
I am BY ABSOLUTELY NO MEANS a sterling example of this. I just find it useful to my overall spoons level. I generally am terrible at not ending up under a rock, but when I remember to do it, it helps.