You've got used to your routines, that's OK but now you need to create new routines.
When your dd comes to chat while you're cooking, why not get her involved- even if you just ask her to read the next recipe step. Teach her some of your best dishes - she'll really treasure that in years to come.
If she's after company, do things together. Mother-daughter time and father-daughter time. If these are things you can do out of the house then the parent not going can have the house to themselves for a bit.
Cleaning is also a flash point for tensions. Is she not cleaning up after herself when she's cooked breakfast or is it more that you object to the kitchen being used after you've cleaned it?
If it's the latter, you need to get over it, you've being deeply unreasonable. If it's the former, you need to communicate with each other better.
Moving home after uni is a really lonely time tbh. Your life completely changes and you're left trying to establish yourself and even if you know what you want to do, it can feel directionless. On top of that, you're doing all this at your family home where old family roles reassert themselves you all struggle with adjusting expectations of each other.
She's been used to running her own home in many ways, your way probably feels quite restrictive.
I really hope she's not picked up on how you both feel, she'll be devastated.
The way to look at it is as a pp said: you'll never have this time with her again. She'll never be this person again - full of hope and excitement for the future, unjaded by adult responsibilities. She has more time on her hands now than she'll ever have again, you have a wonderful opportunity to create some really special memories and forge a new bond as you get to know her as a young adult.
Another thought and please don't be offended but given her age, could you be menopausal? If so your tolerance for others may be unusually low right now.