Love your work OP!
I have 3 teens in the house. A while back I basically stopped doing everything for a while.
Now...
They get their own breakfast and lunch. DH or I cook dinner and order the big grocery shops. I quite often send the teens out to buy grocery top-ups or collect the click and collect order.
During the week we all share the dishwasher loading/unloading, pet feeding, clearing up after dinner, etc. They all do their own laundry. They take it in turns to walk the dog. They empty bins.
At the weekend I usually ask them to do a specific chore each eg vacuum downstairs, clean a bathroom.
Last week DH replaced a toilet, and two of the teens spent much of their day helping him. The third went to work.
I knew we'd got to where I wanted us to be the other day when DS15 told me off for not rinsing out my Diet Coke can, and instead just leaving it on the side - he actually used my words back at me - "Are you letting us know that you're just too important to do it, so you'll leave it there until someone less important does it?"
I was quite proud 
The other side of it is that I have to be willing to live in a house that is cleaned to their standards, and if mine are higher then that's my problem.
Also I try not to think about their actual bedrooms, and I do occasionally gently suggest that they might wash their sheets and run a vacuum around.