Thank you to Hugh for the suggestion that Jane and I each do 1 of pickup or drop-off, but take both kids when we do it.
Which makes it a two hour round-trip, but only once a day. So I leave the house at 7:40, drop off both kids and get to work at 9:30, leaving for home at 5:30. She works 8-4, picks up both kids, and gets home at 6.
It's still a long day, but not as long as it was for the past two weeks, with an extra hour at work (rather than traveling) for each of us each day.
Still looking forward to getting back home to a 45 minute commute each way!