I used to live in the same sized house and it was 3 br/ 1 3/4 bath. The key was hidden storage and vertical living.

Every bed had plastic storage pullouts. The edges of every closet had skinny shelves for supply storage. Each bedroom had 1 or more tall bookshelf. Those held books, baskets and bins for other items. Every desk had a book shelf sitting on top. Even the small dining room had a tall bookshelf in it. Cookbooks, daily dishes neatly stacked, napkins and flatware in rack wad always stationed there, freeing up space in the kitchen cabinets.

Basically, we used a bookshelf as a drop zone coming in to the house. Each person has their own shelf, and all purses, shoes and backpacks go there. Multiple key racks are on the side of it. If any kids stuff is out of their room, it goes into a basket in the corner. It gets tossed on garbage day. After a week or so, things get put back onto their rooms right away!

Thank you!