I guess it depends. We have two cats and a small dog (as well as 4 budgies and two tanks of fish) and it seems to work ok for us.
We have three litter boxes arranged throughout the place so if someone needs to go they pretty well always have somewhere to do so, and if they like to pee and poo in different spots, they can do that too.
I’m sure the place is not as fresh as a no pet home (despite the boxes being cleaned about three times a day), and I go to work with cat hair on my clothing, but we love the little buggers, and there’s nothing quite like being lulled to sleep by a tandem purr. 