Me, DH, and 2 teens ages 17 and 15. We both work full time, me half the week working at home and DH 100% at home. Used to have a cleaner 2hpw but she is leaving for a career change. I can't face finding a new cleaner and feel like we should be able to blitz the house as a team once a week - all 4 of us - stick on some music for an hour. It's a 4-bed semi (2 bathrooms).
On the other hand I am not sure if is reasonable to ask the kids. One is in y13 so studying hard for A levels and also has a job one evening a week. DC 15 is also very busy with lots of extra-curricular activities. They are good kids - try to keep their rooms tidy, put away their washing, clean up after dinner, load and unload dishwasher, sometimes do bins. I'm not sure if expecting them to regularly pitch in with full house cleaning (bathrooms, dusting, hoovering) is reasonable, or if me and DH should just do it ourselves. YABU - they are teens, let them be. YANBU - yes they can help clean.