I have ND children with executive function issues. (The apples may well have not fallen far from the tree...)
Food largely remains in the kitchen to avoid mess. Clean food (that leaves little mess, won't spill, fragment, go sticky, rot etc) can leave the kitchen but evidence needs to be tidied away. That takes care of hygiene.
If they don't clear their clean laundry basket into their drawers, then they obviously have plenty and it's not my priority to wash. If dirty clothes are not in the basket, then I can't find them to wash them.
I'm not fussed if things are cluttery. There is little harm that will come from that.
Occasionally DS (11) will have a tidying session of his own accord and that is far more beneficial to his development than being micromanaged.
There is not a universal standard of tidy. The range of functionally tidy is wide.
I need visual prompts. Out of sight is out of mind. People that put appliances out of sight are not wrong, but if I put things like the toaster or kettle away, I may as well bin them for all the use they'd get. In our house, we need things at point of use.
I once had an idiot employer that believed in the nonsense of "clear desk" policies aka how to be completely disorganised, lose things and get totally sidetracked because you can't keep it grab-able and in sight as a prompt. Stashing items away to appease some random over-zealous tidy standard just means it builds up into a proper problematic mess when it can no longer be contained.
After a recent deep-clean of the kitchen before going on holiday, it was actually unpleasant in there because of the echo. Minimalism can be very uncomfortable and sterile in the way some people find maximalism too much. Many people find seeing their possessions out openly, much more cosy and relaxing and it's often stimulating and motivating. Teenagers need some leeway to hold a comfortable standard which may not be the same as their parents'. It's also not an indicator of how they will manage their spaces as adults.
Tidiness is not a bad thing, but it's not a moral virtue either, and there's too many people spending their lives feeling shit because they're judged for failing to meet unsustainable standards that don't work for the way their brains work when functioning and good enough will suffice. There's often a load of shit advice being recycled that doesn't work for all ("never leave a room empty-handed" aka, take something and 10 actions later wonder what you were intending half an hour ago)
The irony is that I was nagged at through my teenage years for being messy, but given no proper storage or strategies to do anything more effective than shove it under the bed or pile it in a cupboard and hope it was enough to appease the parent. Naturally as soon as I needed something, it all got pulled out to find it.
Tidyness is one of the few skills in life that we're randomly expected to have and just aquire and are unlikely to actually be taught other than blundering a way towards an outcome.
Having a cleaner in teenage bedrooms doesn't teach anything. I was somehow expected to feel grateful for someone coming in and interfering with my things while I was at school.