Before kids, and when my first was very very young, I used to work out right out of bed. But I was in my late '20s then. I get up for work around 5:30am. Everyone is sleeping and the house is silent when I get up. I'm older now and it takes me a bit to get moving in the morning. Between that and just regular getting ready for work, I don't really have time to work out -and- be at work by 6:30am.
I thought about getting up earlier, but realistically the flow of the family keeps me up until at least 10pm almost every night, and there's just no way, especially not with severe insomnia, that I'm going to bed at 10pm (so, asleep by 11-11:30pm) and then awake and ready to work out AND do an entire stressful work day, by like 4am. No way.
So I do all my work-outs basically 'sometime after work.' I don't have regular 'off' hours, technically. So when I get home varies and therefore when I can get a work-out in varies. Not actually having any kind of fixed schedule does make it harder to stick with it, but I haven't come up with a good solution for that. Working out right before bed does not seem exciting to me, and by then I'm usually way too tired anyway.
And same -- it's in my head all day that I've gotta find the time to do it. And if I don't do it I, also, feel guilty about being a lazy asshole. The only good thing is the lack of structure means I give myself a lot of room on what qualifies as a work-out. If I really do run out of time, as often happens between work and family, I'm okay with just doing a couple sets of push-ups and a couple sets of curls. Just do SOMETHING, is my rule.