I think tidiness just needs drilling into them as soon as they understand. My two year old already pops her clothes in the laundry basket and puts wrappers in the bin. She also likes to steal the wipe and clean the highchair after eating, so I just let her do it now (then give it a proper scrub when she's in bed 😁). She's also at the age where she is excited to help with taking the laundry out the machine and passing you the pegs outside, but I know that won't last lol. She loves doing anything helpful tbh!
I'll always expect her to help put toys away and pop her clothes in the laundry basket at this age. Putting the pots in the sink is also a given once she's big enough.
As she gets a bit older I'll give her basic jobs like laying the table, helping to empty the dishwasher, feeding the cats, folding some of your own laundry, watering some plants, etc.
I'd never expect a child to clean or have many jobs outside of general tidiness and a couple of basic household tasks tbh. You have your entire adult life for chores. If she wanted to help with cooking, I'd let her, but I'd never expect it. Obviously as a teen I'd like her to know enough to survive if I'm ever away for a few days, such as being able to boil some pasta, make scrambled eggs, etc. I'll be honest I'll still happily be making packed lunches for a 16 year old, because again, you have your whole adult life to go through the daily grind of deciding what to eat, and I'm her mum and want her to feel looked after and worry about not much more than homework and friendship dramas!
So yeah, for me it would largely be about noticing and doing simple tasks anyone in the house can and should do, putting your laundry away, keeping your room tidy/clean, and obviously tidying up if you've used things/made a mess in communal areas.