Hi, Emily -- welcome!!!
I think it does get easier, although it's constantly a juggling act for me. I often have those same feelings of not being good enough as a mom or at work, but what I've done that has helped is try to focus on whereever I am fully -- when I am at work, on work, when I am at home, on my family.
And no way are you a bad mom -- you're a great mom because you're working hard to provide for your family and your daughter. It's so tough to juggle and you should feel awesome for doing it.