When do you actually stop feeling guilty?

I know I need to work, and I know my son is fine, but I can’t shake the guilt when I leave him at daycare or come home too exhausted to be fully present. I tell myself quality time matters more than quantity, but then I see stay-at-home moms doing crafts and outings every day, and I feel like I’m failing. Does this feeling ever go away, or do you just learn to live with it?