Oh OP!
Your examples are really depressing. I'm not saying that from any point of superiority, believe me!
I'm a very busy single parent, working, 3 DC, no support, kids also very busy.
I have absolutely had rants at the laziness & thoughtlessness.
A few things I've realised.
There need to be systems - so a process that makes it easy to get a task done to completion. In my house, the block to that was clutter. So house was clean + looked organised, but clutter made it harder to see what was needed. I am working very hard to eliminate clutter & am nearly there. In your case, an example is your DD's clothes. If they can build up that level of clothes piles, they've too much. Review + declutter with the girls, make the task then of tidying away simpler.
you need to work as a team 'come to Jesus' meeting where you talk about this being your home, shared space all should respect. This isn't transformative but I found it helps make the point about why (I'm not sure about DH tho - he sounds so disrespectful 🙁)
tasks together* if you can blitzing jobs together works well. DD1 - dishwasher; DD2 - floors; you - dusting & hoovering; DH - laundry. Or whatever. So you all work together, and you can supervise the lazy feckers too.
more jobs your DDs are taking the piss. You need to give them way more jobs. My DC (16, 13, 11) all make dinners, put on washes, iron (not 11 yo), dust, clean, hoover, mow lawn, clean car. Not all at once, not perfectly & not without pressure but they do it in the end.
Hopefully someone else can advise better about the H issue as he sounds dire.