washes up with me (she does the easy bits, I do the hard bits but she stays in the kitchen to see how it’s done and chat)
This, making them see from a young age what adults do as you are raising them to be functioning adults. We have always kept the children (now 19 and 16) in the kitchen with us until everything is finished. From a young age bring their plate through from the table, anything else they can manage, put away condiments, placemats, napkins into the tub for washing, wipe the table and dry it, again those textiles into the same tub as the napkins. Stay in the kitchen being handed stuff that is hand wash only to put away.
Later they pack and empty the dishwasher. Your 9 year old can do one dishwasher load a week, have a set day. They can definitely strip a bed and probably have a good attempt at putting everything back on it, sheet, duvet cover and pillow. Again we have set laundry days.
The basics of their laundry into baskets, shoes/coats/bags put in the right places, a tidy bedroom, tidy up after themselves starts from as early as possible. Help with any lunch or dinner prep they can do, even if it is just washing tomatoes. There is no money for chores in this house, no one pays me.