Simplify things like laundry and do a load almost every day. It is MUCH easier to manage: wash, dry, put away. Make everyone have their own laundry basket. Stop sorting clothes. It's completely unnecessary. Buy some color catcher sheets, a mesh delicates bag, and some oxiclean boosters. Wash everything together under Normal or Permanent Press, warm or cold water. Dry it all using Permanent Press. That is how we have been doing laundry for ages. Sorting isn't necessary at all.
Wash bathroom towels once a week, do it the same day you clean the bathroom. You can clean a bathroom in under 20 minutes. Strip the towels, throw in the wash, clean the bathroom, then dry the towels and replace. I clean my bathroom once a week. My 16 year old cleans the bathroom he shares with his brother every Sunday. I clean the half bath whenever it seems like it needs it. Usually once every 7-10 days. It doesn't get used too much.
My son loves to vacuum, so he vacuums every Sunday after cleaning the bathroom.
My boys are responsible for their own laundry. Since they share a room, they combine their dirty clothes into one hamper. They wash on Sundays and Wednesdays. They are responsible for putting everything away immediately after the dryer finishes. No waiting around. It takes them 5 minutes.
I wash my clothes every Friday morning.
I wash my husband's clothes on Sundays.
I wash bedsheets every Wednesday. I wake up, strip the bed and throw the sheets in. When they are done, I put them back on the bed. It is motivation to get it done so I can go to sleep later. I have an extra set of sheets, but just keep those on hand for situations where I need to do an unscheduled bed change (night sweats and such).
I clean the downstairs floors once a week. I vacuum with a cordless every other day just for crumbs and stuff. I mop once a week.
I clean the kitchen counters daily at night. I clean the stove when it gets to the point that it grosses me out. Maybe every 2 weeks. I do a lot of grilling and don't use the stove all that often for heavy duty cooking.
I am kind of a clean freak, but I honestly don't spend that much time every day cleaning. You have to do a little bit every day, though. My baseline is probably much cleaner than average, but it's much easier to maintain cleanliness than constantly try and clean up big messes.
Enlist the kids. Mine have been helping clean for many, many years. They are capable of doing more than you might think. My son started fully cleaning his bathroom at age 11. He does a great job! He is slow, but it doesn't bother me because he is thorough.