Maybe an unpopular opinion but I also think it's ok to be stern once in a while. Toddlers are capable of doing things that are not OK or dangerous so if we express displeasure either by saying "that's not nice" or "please, no!" In a raised voice, it might help them think twice before doing it again. My daughter has a habit of occasionally hitting us in the face..it's playful but I've had to be stern with her because it also hurts sometimes.
It also gets frustrating because my partner will say something once MAYBE twice and he’ll do it.. but if I say something i have to repeat myself so many times or physically go get him and bring him to where or to do what I asked
@Maitreyi double this! It's okay to set boundaries and hold them to those boundaries. It's also okay to be human.
First I'll say give yourself some grace. We all have our bad days, we just have to remember to apologize to our babies when we make mistakes. Take deep breaths and remember that babies this age have zero logic and only act on impulse and emotion. If they're taking clothes out of the basket, try redirection to something else, if that doesn't work then remove them from the situation. As for the diaper changes, I found that if I play with my son and do leg lifts and bicycles first he's less likely to try to wriggle away or kick. I hope this helps. You're not a bad mom, you're just having a bad day.