I like to clean, so I just did it myself.
Every once in a while I would ask them to unload the dish washer or carry the vacuum upstairs for me (or bring something to the basement) but I just never really bothered with assigning chores.
They were responsible for their own bedrooms. If they wanted to live in a messy room, that's on them.
I do ask them to bring their dirty clothes to the laundry room.
When it's done, they get it and bring it back to their room.
Usually back on the floor and they live out of that pile.
They're happy. Lol