The whole point of a cleaner is that it's meant to take some work/stress from your life, so some of the attitudes here are a little sad.
When I was awarded DLA for my disabilities, the first thing I put in place was a cleaner. The idea was to take some of the pressure from my informal carer (who has become injured herself looking after me), and take away some of my guilt for not being able to contribute fairly.
I'm usually up all night in pain or with insomnia. I usually sleep for a few hours between 7am - midday, i.e. sleep a bit, wake up, sleep a bit more. So I'm usually extremely sleep deprived and exhausted. My cleaners are from an agency, and they send different ones every week, so they don't know me.
They just let themselves in and get on with it as I'm always in bed when they're here, so of course not dressed. I already worry they judge me enough for this (they don't know I'm disabled, although they may pick it up from clues around the house!)
On another issue of judgement, I did once overhear some cleaners loudly complaining I'd left some crumbs on the side. (I had spilt something, but couldn't stand any more so I'd had to leave it. It wasn't a total mess or anything, just needed wiping up.) They, not knowing I was there, were complaining about lazy people and people like me not having any pride in their homes. One of their other complaints was that in the shower I'd left some shampoo/conditioner residue on the glass. They're not to know that showering is utterly exhausting for me, and I just try to get through it the best I can, without scrubbing the door after - but even if I was healthy, isn't that what cleaners are for?
I always make sure the place is tidy, and it's never in a state - just normal weekly mess. (I did complain in this case, and they sent an apology and have never returned.) If I'm meant to clean up though still despite having a cleaner, then it's kind of pointless!
Sorry, this has turned into a long feelings post about cleaners, but there always seems to be a constant judgement.