After many trips, being too much on the go is still a challenge for us as well! It helps if I do a little more of the leg work, so to speak. But DH has found parts he likes- he loves keeping track of FP times and getting 4th FP.
I also find spending a little more (though maybe not current WDW pricing) helped in the past. like having our own rental car vs. waiting for buses. (Or just splurge for one mid trip taxi). hotels offer all kinds of little luxuries to make less work for you- look at some options. Like upgraded room location.
We tend now to stay more at deluxes and eat at least one dinner at our hotel (TS). We also do NOT do any extras really, and cut WAY back on total ADR's. (thanks no show fee!) With less ADR's, there is less rushing to be some place by a certain time. I've never done a dessert party, prepaid Fantasmic package, etc. Those are all things you MUST do once they are prepaid. YUCK! We prefer to go where the wind blows us.
We try to be roughly in the parks by 9:20ish, but don't beat ourselves up to make RD. On the other hand, we use PM hours. We find them much more relaxing than AM hours. In PM, crowds are going DOWN. In AM they are going up, and it is more stressful trying to beat the rush. (Yet somehow, rushing for ONE last ride on Space MTn is no problem just before park close)
Recently, I rushed from IoA to make dessert hour at our US hotel. I was speed walking in flip flops and getting some pretty funny looks. Who is this crazy lady rushing around AFTER all the parks have closed? Doesn't she know MORNING is the time to rush?
(Oh, we love FotLA at US! No rushing, minimal waiting) Since you only had one trip, maybe you did try a bit too hard to do it all. that is common. Focus more on a few faves this time around. or go for fewer days... or maybe less hours per day in the parks.