Choosing a practical finish for trim in a house with kids and pets

We're repainting trim in a house with children and pets. I like the low sheen of satin, but skirting boards and door frames need to withstand frequent wiping and occasional knocks. A very glossy finish would show every brush mark and imperfection. What sheen and paint type have actually held up well in high-touch areas? I'm prioritizing cleanability over a showroom-perfect look.