I feel for you Op, and completely understand your frustration.
Some people (mostly men but not some women too) still think that if a man does anything around the house he's helping the woman of the house.
When you both work FT, housework / jobs around the home are a 50/50 shared task. And yet some still don't see it that way. When it comes to housework they expect the woman to do their thinking for them, and then to get some sort of thanks for doing the task as thought they've done a favour.
In my case, my DH does more of the outside work / DIY / car maintenance, and I do more of the inside work (personal choice on both counts) but the workload overall is split equally. He might ask where I'm up to if he's come indoors to do housework, and I'll do the same if I'm dropping on doing DIY with him. BUT when it comes to ordinary day to day tidying up / doing the pots, he can see what needs doing, and just does it. Because he's an adult who has shared responsibility for the running of the house. If he makes a mess, he clears it up.
I think the old instinct is still there in me to an extent. For example I iron more often, and if my DH does the ironing I have to stop myself thanking him for doing it. I do stop myself though, as he hasn't done me a favour any more than I did him a favour the last 20 times I did it. And I don't want to reinforce any ideas that ironing is 'my job'.
I've rambled a bit, but I'm trying to say I think these ideas are so deeply ingrained, that even a 'modern' man or woman sometimes defaults to the assumption that the woman is in charge / has main responsibility inside the house. In your case, you have had the discussion many times, and he still thinks he can make mess and it'[s your job to clear it up. Which is really, really irritating and unattractive.
All that said, very happy to see you may have found your answer. I hope he can keep it up!