I used to stress a lot too due to constantly having more work than I could handle, and I too have come to accept that this will always be the case. I enjoy all the projects I take on so am not yet ready to say 'no' to some of them and step back a little (but think I will be at that stage some time in the next 5-10 years).
Anyway, I agree about getting over it! Since realising and accepting that I will always have more work than I can get through, and that some things won't get done in the timeline I was aiming for I've been a lot less stressed. I still love to get things done straight away and impress clients, but I've learnt to ask myself the question "Do I really need to be up this late at night to complete this task, or can it wait until later?". I'm surprised by how few things really can't wait until I've had a sleep.
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