DH works from home three days a week. I run my own business from home.
I put the washing on in the morning as that's DH's busiest part of his day - he's catching overseas clients at the beginning and end of day. He'll then have a break mid morning and he always checks the washing machine. He'll then hang it out or stick it in the tumble dryer if it's a wet day.
I'm normally busy until lunch time - I've always shut down for lunch for 30 minutes or so (when I worked outside the house I'd take myself away from my desk for 30 minutes or so, so I got a break and I've stuck to that with my own business). I make lunch and he washes up. If it's a day when he's out of the home then I'll do the dishes - I've had the food!
I've never come home to a sink full of cups even at weekends. But then DH washes up when he's in his main office as he hates seeing dirty plates piled up (not obsessed but he just can't see why people would walk past a sink of dishes and leave them for 'someone else' - who doesn't actually exist!)
He also does a lot of the ironing - he was out of work a few years ago and decided it was 'something to do'. And I've never mentioned it, cos I hate ironing (I'd rather clean the loo than iron), he wears clothes too so why shouldn't he do the ironing? I clean the house (including the loo - told you I prefer it) and cook most of the meals. He'll do the hoovering at the weekend if it needs doing - depends who gets to the hoover first. He does the bins as that's a day he goes into work so he puts them out as he leaves. If he's away or running late I'll do it.
His view is it's his house too, he makes a mess - he clears it up, he eats or drinks - he washes up, he needs clean clothes - he puts a wash on if need be. I work, he works and our DS needs to see there is no such thing as 'this is your job, this is my job'. DS needs to learn that if it needs to be done, do it. DS will have his own home one day and will need to keep it clean, eat, wash his clothes etc so DH also sees it as his role to show DS that it's not 'unmanly' to run a hoover over a floor or cook a meal and you shouldn't expect praise or a thank you for it (other than the normal polite thank you for a nice meal - which I always get and give if he cooks - or for any extra help).
DH's dad and my dad always did housework if they were home before our mums (and they'd both be over 90 years old now if they were still alive so it's not a generational thing). Both our dads used to do shift work so would sometimes be the first home and dinner would be prepared if not cooked when the mums got home from work.
I don't think either of our mums would tolerate coming home from work and having to start again if someone was in the house before them, whether that was our dads or us kids.
There'd be a note for us kids when we came home from school with lists of tasks like peel potatoes, switch oven on at 5pm, get the washing in from the clothes line. If it needed doing you did it. It was a shared role as it's a shared home, so I suppose we've both just seen it as the way things are done.