It took me more than 20 years to wake up and deal with this OP.
In the end the resentment about all the small stuff killed it. He wasn't quite as lazy as your guy (cleared up after dinner but never properly) and didn't go out as much. But in the end, I was the biggest contributor by far financially, in the housework, with DC etc etc. Whilst he hogged more of the resources, taking over the living room, leaving all his stuff out etc.
And yet it was him suggesting that I needed to see a counsellor because I wasn't affectionate enough to him and didn't want sex.
I wish I'd done this years ago. He moved out last week, coming back today to hopefully get the last of his stuff. I've bought him out, DC are young adults who still need supported financially, I now have the chores he did added to mine (not much) and the thing I'm most pleased about is that he'll have to think about what to have for his dinner from now on instead of me doing the thinking, shopping and cooking. I mean I'll still be doing that but at least he will too.
As an illustration, he asked whether we had a mop and bucket he could borrow to do the floors in his new place. Should he not know and also know where it's kept? It's a spray mop and I had to show him how it works. I mean we've only lived in this house for 20 years, why should he know?
Kick him out and be happier.