Me and DH both work full time & also have a toddler DC together.
I find that in order to keep on top of the house it helps to have one of my weekend days having a good clean, bed stripping, hoovering, wiping down surfaces, cleaning bathroom etc..
I prefer to wake up on a Sunday and get this stuff done so we can enjoy the rest of the day.
DHs older kids are teens and stay most weekends. As typical teens they tend to sleep in quite late i.e. 11-12ish on a usual Sunday.
DH thinks I should not hoover upstairs until they wake up. I think this is ridiculous. They can stay in bed for as long as they want but the rest of the house should not have to put their day on hold so they aren't woken.
We have a 3 yo so I am woken up every day, weekend or not, by 7am. I am not sitting around until 12 to be allowed to hoover up in my own house so teens can laze in bed all morning without being disturbed.
Surely that's just part and parcel of family life. You can stay in bed but the rest of the house gets on with their normal day while you do!