Hi OP. I've NRTFT (sorry, too many pages now!) but I'm a professional domestic cleaner/housekeeper for a living. But despite this, I completely understand your reservations.
Even though I do this myself for a living, I would still find it difficult to hand the reigns of my home over to someone else. I'm very particular and houseproud, so I imagine I'd be initially hard work for letting go of the control.
But that's exactly what a good cleaner does. They take control of the household chore stuff so that you can focus on your own work and family life. They work out their clients on a personal and psychological level.
I can categorically say that of ALL the clients I have worked with, not a single one is the same as the other. You learn who they are. You learn how they live, their family dynamics, who likes their room in specific ways, what makes people's lives easier and happier and the stuff thats less of a priority.
For the above to work out, it will mean a few weeks of both parties feeling a little uneasy and out of their comfort zone. You'll feel like your home's been invaded, like you're being judged. You'll find it unnerving having a total stranger doing the stuff you'd normally do in your territory. But the cleaner will feel the same - like an imposter who's being judged. Waiting for your footsteps behind them, checking on their progress and anticipating the "you've missed a bit".
But if both give it time, things work out. The cleaner gets to know you and your home, how you like things and the things that really ease the workload for you. And the cleaner feels more easy and comfortable about the routine they've established after getting to know you and your home.
But one thing I can assure you... a cleaner doesn't give a flying one about judging or abusing your privacy. They'll be running around like a blue arsed fly trying to complete as many tasks as poss in the timeframe allocated to your slot. So much so they won't give a shit about anything else.
I've worked for most of my clients for near enough 5 years now and I still couldn't tell you what's in their wardrobes, drawers, airing cupboards etc. I only access what I NEED to. Anything else is not my concern. Going nosying and snooping would only extend my day and make me late for my other jobs!
All my clients started out feeling apprehensive about my service, but all became quickly acclimatised to it. Now they love not having to think about housework and enjoy leaving me to run things.
Maybe just give it a try?