Regarding teenagers: (Mine are well past that stage!)
When my five became teenagers, I decided that an important part of my parenting was to prepare them for living away from home eg university, house-sharing etc.
At that stage, I impressed on them that this was their home and always would be, if they needed it, BUT as young adults, they were actually house-mates, too! And in that context, we all had responsibilities to ensure that the house ran smoothly.
We also started to democratically discuss what the 'house rules' would be and make joint decisions about things that were age-appropriate. This worked very well and stood them in good stead later in life.
Luckily,
I was not as slim as they, so clothes-nicking was not an option for them. My daughters' socks were the same size as mine but they never encroached.
They did ensure that their washing was in the laundry basket - because, otherwise, it didn't get washed! They did help with the household chores, sometimes, ( it was not often automatic!) and they were responsible for tidying and cleaning their rooms.