Anyone else feel like they're not doing enough as a parent

I work full time and by the time I get home I'm exhausted. I help with dinner and bedtime but I know my kids need more from me. Other dads seem like they have it together way better. My wife says I'm doing fine but I can't shake the feeling that I'm missing out and letting them down. My oldest barely talks to me about his day anymore and that kills me. How do you guys balance work and being present?