Another handhold here.
I only have 1 DC (ADHD/ASD - formerly known as aspergers). And a DH who shows asd type traits (and adhd traits, and is somewhat dyslexic but just copes with it and occasionally asks for help to spellcheck things).
DH has been under a significant deadline looming for a month, swore he would take time off this week after working straight through the past 3 weekends, but took half a day.
Dd May be hf, but dear lord, can have her moments and is going through puberty and school stresses so everything is ramped up at home, her "safe space". So no food is right, nor any clothes, and she's constantly "bored" but won't accept any ideas to do things that don't involve using me. Meanwhile I have a lot on that need to get sorted as my boss is caring for his terminally ill wife and my Cub pack are going away this weekend and my exam (night class) is coming up in 2 weeks.
I agree with layering the beds, that really does help (we have had various issues over the years, and it has saved much angst in the middle of the night).
We have always worked on 1 thing at a time. There are usually lots that need to be worked on. But only doing 1 means we have a better chance of success in that 1 and then move on to the next.
So maybe work on getting them all to not worry about accidents happening, but that all results (dirty underwear, pull-ups, sheets - whatever) go to their correct places. Show them all the right places, and physically put a pull-up into the bucket/bag/spot so that they see. And put a dirty underpants into the hamper or beside the washing machine or wherever your spot is.
Then start working on catching up on the laundry, can they help fold the clean things or otherwise get involved? And learn to tell you if they need something instead of just pulling it all out - or at least leaving it the way they found it.
Hugs