I've not seen the show, but all TV programmes are to an extent inaccurate.
We make fun of the fire brigade. They're called "water fairies" (amongst other things). We make jokes about how they sleep all day. But with all the emergency services there's an undercurrent of respect, because we couldn't do what they do.
I'm not a paramedic - I'm an ambulance technician. This essentially means we do the same thing, although we can't give as many drugs and there's a few skills we don't have. To the general public it's seen as the same, and it mostly is - although we get paid even less.
Because it's a 24/7 service, we work shifts. So a "typical day" can start anywhere from 6am to 10pm. This year, I'm working over Christmas and new year. So a typical day might actually be a night. But anyway, you get there early and figure out which vehicle you've been allocated, and who your crewmate is (I only work on ambulance trucks. If you have a car/bicycle/motorbike you don't get a crewmate). You then have to put all your personal kit on the vehicle - we have to carry a change of uniform, our stab vest, our lunch etc with us. Then we get 10 minutes to check over the vehicle to ensure that all equipment is present and working, and also that the vehicle is in a roadworthy condition and has fuel. Most people get in early to do this, because done properly it takes a lot longer than 10 minutes.
Then you discuss with your crewmate what you're doing that day. One person is the attendant, which means they sit in the passenger seat, and they do the paperwork and the main asking questions. The other person is the driver, which means they drive and carry all the equipment. Despite what the Daily Mail would like you to believe, there is no such thing as an "ambulance driver", so even the person driving is still a skilled clinician in their own right.
Then after your 10 minutes is up, you get sent on a job. You get told where you're going (the address), and a brief description of the injury/illness. This is often wrong. The driver drives to the job, and the attendant plays Candy Crush/helps with navigation.
Then you get there and treat the patient. Some patients need to go to hospital, and this can mean carrying them down stairs etc. Others can be left at home, and this means a lot of paperwork. If the patient does go to hospital we have to stay with them until they are onto a hospital bed/chair and the staff have taken responsibility, so with reducing bed numbers and increasing numbers of patients this can often mean long waits. I've waited over 5 hours for a bed before.
Once the patient is left at home or in hospital, we have to clean the ambulance and equipment and restock the bags. If we're lucky, there might be a few minutes to grab some food, bearing in mind the vehicles have trackers so you can't really go anywhere and so it's only what you brought with you.
Then when you're ready you go green available, and get another job and do it all again.
Some days, you might get a lunch break; I've had 3 this year. It is impossible to finish on time, but you always hope to not be too late. At the end of the shift you have to get back to station, unload your personal stuff from the ambulance, and leave it clean and tidy for the next crew. We're paid for 10 minutes at the end of shift for this, but this also takes longer than 10 minutes.