It took me a good 3 1/2 years to finally get into the right routine, both physically and mentally. Our kid's great (another one on the way in Sept) but we really struggled with a consistent bed time routine that was healthy for all sides for a long time.
We're in a good place now but I imagine, just like us, many parents fail to realize that every child has different needs and sometimes, you've gotta ride it out quite differently.
As an aside, the pandemic sure has helped us get into a more rigid routine. We have the odd late night for our kid but otherwise, the house is clean (as can be) and kid's in bed by 8pm. A silver lining in all this mess.