You need a schedule, so that on those days they know they have to do it and some things are daily which they already do like brushing their teeth. You need to add to their list as they get older so it doesn't suddenly become a massive list of things they need to do as a functioning adult. You are raising them to become functioning adults. We had a laminated tick list so they ticked off and we reminded them to check the list.
You don't pick up after them because all it teaches them is that you will do it. Do not pay for chores because when they are adults no one is paying them.
In primary mine would have pulled their duvet back to allow the bed to air and on a set day stripped their bed and put it into the washing machine. This does not take long and was done before school. They can try to put it all back on as much as possible and for those declaring this is too hard they do this on residential school trips, make their beds up.
The rule we had for meal times was everyone clears the table, puts things into the dishwasher with guidance on where things go. Everyone stays in the kitchen until everything is clean and put away, a team effort so they understood what goes into making a meal from planning, to shopping, making it and clearing up afterwards. The children can wipe and dry the table. Good cross body movements. We would put music on to help pass the time.
Their rooms were tidied daily but their rooms were for sleeping in as they had a playroom and some things were left out for days on end like Scalextric track.
All things like bags, coats, shoes were all put away. If they weren't I would wait until they were engrossed in playing and then tell them they had to come back to do it.
Sock pairing, putting their laundry away under supervision until you can trust them, wiping out a bathroom sink, loading their things into the dishwasher and unloading a dishwasher are things they are more than capable of doing. Unpacking shopping and putting some of it away too.
I should add mine are young adults now, their rooms are tidy, even at uni, they cook from scratch, clean, shop and I raised them to think of others.