Building trust is much more than routine, it's about being predictable yourself. It's also about being supportive of the kids when they want to do something yopuu thik is so-so, also about letting them fail (and help them to recover), making them understand why we ask them to do something, giving them clear limits, but more than all, I'd say, being there (don't look your phone when you're with them, spend time with them when they want to, etc.)

And that starts from day zero and last (in my own experience) at least unti 19 years old.

It's fun, not difficult and it allows some spare time (yeah, less time than before you got them, but some time nonetheless) for yourself.