Helps that we both had our own houses when we met and had been living independently of servants/parents/cleaners for years.
Whereas we met at university (actually married between finals and graduation).
DH and I both didn't know what jobs existed in a household: we had lived "at home" (PIL are neat freaks; my DP have had a cleaner since I was probably 6 or 7) or boarding school or university. Neither of us had ever had to run a household before we were suddenly running one together. We didn't know that skirting boards get grubby, let alone how or how often to clean them. Things like washing up, laundry, grocery shopping were ok because we'd had some experience of those and it's very obvious when they need doing. But hoovering, bathroom cleaning, cupboard cleaning - neither of us had any idea how often we should be doing these or precisely how you do them.
The further problem with PIL's neat freakness is that DH really struggles to see the difference between "a bit lived in" and "complete mess" - for PIL if it isn't show home it's a hovel. A single magazine left on the sofa while you make lunch is as unacceptable as a month's laundry left to rot, crisp wrappers all over the floor, streaks in the toilet, etc. The result is that DH sort of doesn't see the point in cleaning from "quite untidy" to "nearly perfect" because as far as he understands it they're the same. Why would one spend time huffing and puffing about if it's the same when one finishes?
I wrote a list once of all the jobs that need doing around the house. I do probably 3/4 of them and he thought he wasn't doing too badly (I am pt and he works probably 3 times my hours). Then I pointed out that my jobs are daily/weekly and some of his are annual (eg car insurance) and moreover that some of mine are lengthy and complex.
For example, "laundry" actually involves "collect dirty clothes, sort them, put them in washing machine on appropriate cycle, take them out again, peg out or load tumble dryer, bring in or unload tumble dryer, fold and sort, repatriate" not to mention "keep an eye on who needs what on which day, make sure non-bio goes on the shopping list when it's running low" and "look out for holes/stains/sizing up".
I don't nag. I honestly can't be arsed. I'm at the stage now where I either just do it or just leave it. The best thing I can do is teach DC what jobs actually need doing, how and how often. I frequently employ the rejoinder "No, not FOR ME, but BECAUSE YOU LIVE IN THIS HOUSE".