My DH is similar. If our shared life was a workplace he'd be the office junior, possibly the work experience guy, and me the experienced person who's been there for years and knows exactly what's going on and makes sure everything happens.
We've been together 12 years.
I've had some limited success at sharing responsibility by setting up systems.
For example, every so often I write a 1-3 week meal plan, with accompanying shopping list that we just repeat until I can be bothered to write a new lot. Given this, he does the online shop and most of the cooking. He doesn't write meal plans himself, despite encouragement.
In the past I wrote out a cleaning rota and produced lists of all the tasks involved for each part. So cleaning the dining room would be 1) dust the surfaces with a damp cloth, 2) sweep the floor, etc. I thought he would be offended, but actually said he liked having a list to follow. My only problem was it fell on me to nag and remind him, and organise his time so he could actually do the thing on the rota.
We have a shared online to-do list. Although, of course, I need to nag him to do stuff on it. At least he's somewhat aware of this stuff that would just otherwise be in my own head.
I find buying a book about a subject, reading it, then raving about it, works too. He then reads it and it's like the book acts as an authority figure instead of me. I managed to get him to Kon-Mari his stuff so our baby would fit in the house.
I find he copies me a lot too. He took up exercising after I did, and coincidentally decided to take up the same sorts I do. If I stopped I know he would too (motivation to continue I guess).
We were talking recently about how he isn't happy with the situation either. He avoids control and responsibility in his life in many areas - holidays, extended family, finances, days out, presents. Even he is getting sick of being a back seat driver in his own life.
His mother controlled a lot at home. For example he wasn't allowed to make anything in the kitchen (even cereal), and he wasn't allowed to clean up something he had spilt. Even as a teenager. Somehow I've only just twigged this might be a factor, so am on the hunt for a good book on dealing with the effects of controlling parenting!