Well done :o
I think I just finally managed to make it all a habit, my house isn't perfect by any means but 95% of the time I would be happy to have sudden visitors, and that wasn't the case before for my whole adult life. KidsAuthorKate is right too about tidying as you go.
Eg, once I've taken the plate/mug/pile of junk mail whatever to the kitchen, because I'm on my way there anyway to make a coffee or lunch or whatever, then while the kettle is boiling I will stack the dishwasher or take the main bin out, or some recycling, or stick the washing machine on... it's amazing what can be done in kettle boiling time.
I would also say to let go of perfectionism, sounds a bit mad but perfectionism actually made my home awful, because I never felt I had time to do anything thoroughly and properly. Thing is though, thorough really doesn't matter, what matters is that you do something
Eg I have a very old and lovely tiled hallway floor, and I like to scrub it, dry it, and polish it, but it looks very very nearly as good just with a very quick swish over with a microfibre mop (the microfibre thing makes it dry really quick too) and sure as hell looks a lot better than leaving it mucky. it's OK to just do a quick and unthorough job of something sometimes.
And again I might quickly do that before i go upstairs for something, so it's dry by the time i come back down. So I'll be thinking... need to run a bath in a minute, I'll just grab the mop... and do the quick swish and swipe before I head upstairs.
Hope that makes sense.