I think it depends.
Firstly, if you’re struggling, then all adults in the household need to be aware of this and as adults, to discuss together how costs can be covered.
Beyond this, I think it depends if her living with you is a short term or long term arrangement. If she has always been there and has shown zero interest in saving for a house or moving out, as a long term resident, I think she should pay her share, especially if earning more than others. The time of it being the ‘duty’ of parents to house and feed their kids is long gone. Otherwise, when does an adult child who lives at home long term become financially indeoendnet? Would you still be paying when they are 40? 50?
If however, they have been away and are now home temporarily, whilst saving for a deposit or to rent own place, I’d only take a token amount to help them save. However, this probably needs to be a short term arrangement if a couple of years. I’ve known people do this and take rent from their child who was saving and then give it all back at the point where they’d saved a decent amount or were buying a flat.
As parents, we like to help our young and not so young adult chiLdren. Fine. However, because they are our kids, doesn’t mean we have the level of responsibility to support them we had when they were children, in a never ending way. It infantilises them to tree at them as children and not let them become financially indeoendnet. Good parenting invovled helping our kids learn to manage their money and treating them like small children doesn’t do this. Likewise, doing ll their laundry and cooking all their food isn’t doing them a favour.