Of course!
Best example - Years ago I have started introducing small things that they could/should do on a daily basis, to start implementing a sense of responsibility step-by-step on a small scale. Such as - setting up their pencil cases for the next day, putting the towels on the rack to dry after bathtime instead of just dropping on the floor, putting the shoes ont he shoerack after getting home, instead of letting them fall wherever they land as we barge through the door, pick/wipe things we drop while eating without leaving it there (if we notice it). Nothing major, you see. We are talking years, and without fail, they keep not doing them, it just doesn't stick, and if I ask if they forgot to do something (right after it should have happened), they always look at me like there is not a clue in the world that could help them solve the mystery, even though we are talking years of daily action. On a good they, they just grunt and do it begrudgingly when I remind them, but most often than not we reach the "I don't want to" and "nooo, not gonna" levels. Initially, for a round or two I go down to their level, and calmly explain that we don't always choose what we want to do, sometimes there are things we just have to, etc etc, things they cant expect others to do for them, all that stuff. We get into discussing what is fair, whether it is fair for mummy or daddy to tidy up the mess they make, all those things. After a few rounds of that, what I like to do is give them a choice - either go ahead and do the right thing, or they choose to give up privileges. I know this sounds like threatening, and it is pretty much that, yes.. I hate doing it. They know I will keep my word and if I say "no device for 3 days" I will keep my word. That's what usually makes them do it, but they clearly feel unfairly treated.
Another example would be the morning routine - now that brings more shouting. Not getting ready, not getting dressed, not putting shoes on. Endlessly explaining that we absolutely have to set off otherwise we will be stuck in traffic and I will be late from work (this is not a unique problem of mine, for sure :) - But I have lost count how many years we have to do this... It involves explaining why it's important, and we analyse that they would also feel better if we had calmer mornings, but for that they need to get with the program... and yet... no change, they push and push until I run out of options and raise my voice. Hate doing it. And I am very transparent about it too, how it makes me feel, how it makes DW feel, we talk about how it makes all of us feel.. I just don't understand why being lazy and pushing back always overwrites peace...it's like... Guys, can you sometimes give it a rest, and pick your battles, too? like we do? Obviously joking, but still...
In short - boundaries are there. There are clear cut-off times for things, how long we have for this, and that. What will happen if they choose to do this and that, we are consistent with all of them.