my children are a bit older than yours, actually my grandchildren are a bit older than yours, but I remember what it was like.
Long, all day rides become less frequent, but I found times for shorter rides when I could. Commuting is a good way to keep cycling and doesn't impact so much on family time. I note the situation with your daughter and this could place even greater demand on your time. My eldest, now 38 is autistic and she is very demanding on my time, so am restricted in what I can do, but somehow have managed to keep at it, including time trials, throughout the years.
The purchase of a tandem trike helped my situation for a while, but as they get older, it gets easier, then harder, then easier, then harder. Particular when you are waiting for your teenage daughters outside the local night club at 1am, knowing you have a 5am start the next morning.
Happy cycling