Two ND children here and chores are definitely expected! It is so good for kids to feel capable and independent and that they make a big contribution to the home and family.
We find 'mucking in together' at the same time is a recipe for chaos. So it works best for us to have clearly delineated chores so it's more measureable and they can work independently.
So obviously the basics - tidy up after yourself, laundry in the basket, dirty dishes in a specific spot ready for me to wash.
Toddler helps with laundry and the others often like to do it too when they can.
Everyone puts away their own laundry 3 nights a week (I don't care about folding, just the right drawer!) - it helps them to know which night it is in advance so we have set nights for this.
11yo helps set the heavy things out for dinner, then dries up and puts away dishes every night
9yo sets the rest of the table and helps clear away after dinner
3yo (NT) mucks in with a bit of everything (setting table, putting laundry on, clearing table)
Then every Sunday afternoon we have a brief house reset so it's not all up to me on Monday, and I allocate jobs according to what needs doing - wash load on, bins emptied, washing up done and away. We aim for shorter periods of time (say 10-15m or so) to build success and good feeling rather than aiming too high and failing spectacularly!
Finally, the two older ones also cook dinner one night a week each, with support obviously. They love it and I love the time with them!