yeah, limiting isn't happening. I know for some our schedule is crazy and they would never do it. Believe it or not they would love to do a few more activities each, but without cloning myself, it ain't happening. LOL
In this case, wide mouth thermoses and a cooler with ice packs (combined with a freezer and crock pot) is your friend!
Lots of things can be quickly made and put into a thermos for a warm meal:
1. Chili. We make a huge pot of chili on weekends and freeze at least two containers for quick meals. I'll take the chili out of the freezer and put it into the fridge the night before we eat it...it's usually defrosted by the time I get home from work, so I just heat it on the stove. You can do the same, but but individual servings in thermos bottles. Throw a sandwich baggie of cheese into a small baggie with an ice pack, and add a bag of tortillas (scoopable). The kids can scoop out the chili with the chips and sprinkle with cheese.
2. If you have time between getting home from work and leaving to pick up kids, it's also easy to make a Chinese-style dumpling soup. We pan-fry a mixture of meat and veggie gyoza while simmering store-bought chicken broth with a veggie (like frozen peas and carrots), add the gyoza to a thermos, and add the hot chicken broth. My kids love this.
3. I will use the weekend to cook meat to freeze for quick meals. With frozen roasted chicken, I will add it (defrosted in the fridge from the night before) to a little broth with frozen veggies and thicken with cornstarch to make a kind of chicken pot pie base. While I cook the base, I bake frozen biscuits. I just add the biscuits to the pan with the base at home to serve up, but you could put the chicken/veggie/broth base into a thermos and serve the biscuit separately.
4. Anything in a crockpot...beef stew, meatballs, chicken with a can of cream of mushroom soup...can be added to the thermos.
My kids like cold meals. I know some don't, but if yours does't mind them, you could try:
1. Cold stir fried noodles. We stir fry whole wheat noodles (spaghetti or fettuccine) with thinly cut carrots, cabbage, peas, corn, frozen soy beans...whatever we have on hand...with a mixture of soy sauce and a little sesame oil. Sometimes we add tofu or meat. My kids love this cold.
2. Cold quesadilas (spelling is not right, I know!). My kids dip them in a salsa, sour cream dip that we make by mixing at a ratio of 2:1 salsa to sour cream.
3. Cold chicken with potato salad and fruit. I'll do oven-bbq chicken (wings, legs) and will make extra for the kids lunch. They love cold chicken with potato salad and fruit salad. Maybe it's genetic...my mother used to roast a chicken before a routine 10-hour trip we used to make (overnight) and we'd eat cold chicken from the cooler with various salads in the van. But this is something you could do and stick in a cooler and give to your kids as you drive them around.
Just a few ideas. I think the key for you is that you need to be ok with your kids eating in your car! Someone once asked me if I was one of 'those moms' who would not let their kids eat in the car, and I just

until my stomach hurt!