I think, that provided you keep on top of it, it takes hardly any time at all.
My current routine FWIW (I'd say slightly larger than average 4 bed house, but only one bathroom).
Load dishwasher and washing machine after dinner. Empty and sort both before work - 10 mins max
Wipe over kitchen and round sink, inside microwave, if it needs, it daily with washing up after dinner 5 mins
Wipe round bathroom sink and loo daily when I get out if the shower
Clean bathroom and downstairs loo Sarurday morning. 30 mins max, but it's possible in 20m. I've also "trained" DC for this and they have detailed written instructions saved in their phones, so more often than not they do it, when asked. I found setting regular chores more trouble than it's worth with all the "reminders" needed but they wouldn't dream of saying no when asked to do a specific task.
Set Eufy going downstairs while I dust and polish door handles Friday eve (to get it done for the weekend) 20 mins and then let Eufy carry on while I have a glass of wine 
Same upstairs on Sunday, 15 mins. Mop kitchen, 10 mins.
30 min to an hour each weekend doing extra jobs like cleaning the fridge or windows.
Kids strip and remake their own beds every Monday morning. They're responsible for their own rooms. I close the doors and don't look.
I don't have particularly high standards, but the house is always presentable and housework doesn't cause any stress.
Previously because I was frustrated by DH seeing it as "helping" he was allocated laundry start to finish, so if someone didn't have a shirt it was his problem, amd that worked pretty well, but he's too unwell to do it now 
Keeping on top of it means nothing's really dirty when you come to clean it so it can be done quickly, let it slip and it does become a much bigger job.