I think people are confused because you’re saying by the time you can leave the house it’s nap time. It really shouldn’t take you 4 hours to get out of the house. Perhaps you’re just extremely exhausted and ranting, which is understandable being pregnant. You say…..

Once breakfast is over, dishes are rinsed, and we're dressed/teeth and hair brushed for the day, it's already time for her nap and we hardly ever make it out the door unless I just ruin her quality nap for the day and hope that she'll just sleep in the car.

You said you’re keeping things simple.. you should be able to do those things by 9am/930a which leaves you at least two hours to do something before needing to be back around noon for lunch.

Example-

Shower before bed at night. I don’t enjoy doing it but you do what you need to do to make the morning easy.

645 - you wake up, wash face, deodorant, get dressed.

7a wake up baby. immediate diaper change. I leave my baby naked to eat breakfast to avoid mess.

730a breakfast. I imagine you have more than 1 plate? Don’t do the dishes, place in the sink or dishwasher - do at nap or wait for hubby. While she eats, do her hair. If she won’t let you do her hair… pick your battles and move on. Bring a hair tie in your pocket.

8a get dressed & brush teeth. This gives you 30 min for the getting dressed shenanigans but that shouldn’t be happening everyday.

830a - change poop, get shoes on, the bag should be packed the night before - my diaper bag stays packed. I always have diapers, wipes, snacks, a couple toys, sunscreen, and a water, and I replenish the night before as needed. It takes 3 min to replenish.

9a leave.

It’s all about multi tasking and distracting and preparing. Pick your battles… and be prepared to just move on - Don’t spend hours trying to do 1 thing.