I think it’s a bit late now op but you could try talking to her again, repeating especially what you said about her dad and finances. In fact both of you should sit down with her and give her specific times to look after the dog and explain that you have to be able to rely on her during those hours.
Bluntly, if she is not willing to pitch in, then she needs to pay rent either to you, or to a landlord. Why are you letting her get away with paying nothing? What is that teaching her?
And maybe add a night a week when she shops and cooks a meal and tidies it up if she doesn’t do that already?
You have to come to an agreement about her eating with you or not. If she is eating food that you have cooked and prepared then it needs to be at least twice a week minimum I think. If she wants to eat alone then fine but then she shops, cooks and clears up after herself.
I would also turn the conversation to the future and explain that you understand her need for privacy and independence but living in a shared space with other adults comes with responsibilities too.
If she is not willing to pitch in further, then this arrangement needs to be looked at again? I have a hunch she has taken what you said about it being her home too, and you not minding her being there, and has taken that as permission to behave in any way she likes. It’s really entitled behaviour. For this reason, I would discuss whether she has plans to move out after she finishes her degree?
Tbh op, I think it will be much better for her if she does move out, if the housing situation permits. I don’t think these periods of extended adolescence living at home do a young person any good at all. It doesn’t teach them anything except comfort and being molly-coddled. It inhibits their independence.
Now is the time for her to learn about living with others (who see her objectively and do not love her like you do) who expect her to take turns to clean the kitchen and bathroom; she needs to get the corners knocked off! She needs to learn about the real world and struggle with finances and crappy landlords. This is good preparation for life! Who says a young person’s life should be full of comfort?
And it doesn’t always work well for the parents either, as you are discovering. By all means let the transition be a gradual process. Let her finish her degree living at home. But re-assess the situation after that and while letting her know that you love her very bones, also let her know that you love her too much to let her behave in this entitled way and get further entrenched in to bad habits.
Edited to say: My two DDs have become much more appreciative of home comforts and much more appreciative of everything me and my dh do for them, since they have moved out, as they suddenly realise that it’s not so easy managing a household without making an effort.
At the very least op; can you both take a break from one another this summer?