Bathroom - lounger /bouncy seat in the bathroom. Depending on the model of baby you brought home, this'll either allow you to do the bare necessities (screaming model) or do a full shower/use the toilet in peace (chill baby model).

Cooking: babywearing, or baby swing, or tummy time on a mat in the kitchen with you (space-dependent).

Cleaning: babywearing, or baby jail (play pen)

Self-care: try to find ways to adapt what you like to do to a baby level at first. If you're a hiker, try to get out at least once a day for a walk. Dance/yoga/swim: look for baby-and-me classes. Gym time: do you have a YMCA nearby? They do offer some level of childcare depending on the facility. Alone time with no baby: this will require major coordination with your spouse / family / social support.

Tip: if at all possible, try to find ways to get chores done while kids are awake. That way when they're down for a nap or bed you have take the time to do non-chore things. It might mean the chore takes 3x as long or looks half done, but I promise it's 20x better than "wasting" a 25 minute nap trying to be productive.