I would much rather have a nap than a clean kitchen. Ideally, I’ll put the 1YO down for a nap, then lay in bed with the 4YO. (He naps in our room when the 1 YO is already asleep on their room). Then I’ll sleep for 20 minutes and sneak out of bed to go clean the kitchen. This has worked according to plan exactly once, and I’ve been chasing a repeat ever since.