depends what level of cleaning you are after Our cleaner has managed to keep our bathrooms like they are new for the last 6 years. (and we live in a very hard water area) I know it takes her 1 hour to do 2 bathrooms. She is here for 3 hours in total and in that time she does both bathrooms, the kitchen and either upstairs or downstairs.
I would say that's easily enough time, unless the rooms are huge. Most cleaners would be expected to do some more including (all or some of the following) hoovering bedrooms, stairs, light dusting/polishing, cleaning kitchen surfaces and hob etc.
You need to hoover before mopping to do it effectively.
I take 2 hours to dust horizontal surfaces upstairs and down; hoover upstairs and down; mop bathroom & ensuite upstairs + & all of downstairs; clean shower, bath, 3 sinks and 3 toilets; wipe down kitchen tops and dining table.
It helps if the floors and worktops have been tidied so you have unobstructed access.