Anyone else struggle with the guilt when working from home?

I've been remote for 2 years now and I still feel like I'm not doing enough for my family OR my job. Like my 6yo will knock on my office door asking to play and I have to say no because I'm on a call, then I feel terrible the rest of the day. But if I'm not focused on work I'm worried my boss thinks I'm slacking. How do you guys handle this? Do you actually have boundaries or is it all just a juggling act?