My main thing is divide whole areas for you and DH eg you shop and change the beds, he does laundry, you do GP, he does dentist, you do house bills, he does insurance - because it avoids you creeping in to do more. If no one has clean socks the finger is firmly pointed at him.
I’d also do one batch cook a fortnight each.
Kids can be made responsible for unloading the dishwasher, taking out (and washing) the bins and recycling and putting them back.
Everybody cleans their own bedroom, brings down their laundry on a set day, and puts all cups and plate in the dishwasher and cleans up snack making.
Everybody has a basket their clean laundry gets dumped in and they take it from there. (It helps to colour code towels, socks and bed linen per person). Everyone does their own ironing.
Kids do a bathroom, you and DH alternate a bathroom, you do kitchen, DH does hovering and dusting in halls and sitting rooms.
in so far as you can try and divide the bigger jobs according to what people like doing. If there’s something everyone hates, it might make sense to rota that.
The other key thing is to drop your standards - they might not clean bathrooms or do the laundry quite as you do - but the only thing that matters is it gets done. This is the big way women trip themselves up.
One of your teens is an adult, so treat them as such, have a monthly family meeting (followed by nice nosh and wine) where everyone can raise issues and vote on where you go on holiday and stuff.
So lots of carrots, but hitting teens in the pocket when jobs don’t get done is fair.