Chores are non-negotiable and allow for internet access on the computers we paid for, their mobile phone bills, their sporting activities, Netflix etc.
These are privileges and not rights.
From reception in school a child has to collect their own tray and when finished they have to take them to the waste bin, scrape it, put their cutlery in one place and their water glass in another. We were encouraged by school to repeat this at home. We did. Gradually they work their way up to bigger and more responsible tasks.
You have to stand over them if they are not doing something. It becomes part of their day like brushing teeth, clean underwear.
I am a SAHM so obviously with teens I do the vast majority of everything, but the boys know how to do all the stuff I do but there isn't an expectation to do everything.
Things they do (just turned 16 and just turned 13)
Strip their bedding, into washing machine, I tumble it they put it back on
Responsible for a bin each (kitchen or recycling) both get emptied twice a week on set days one of which is bin day, bin goes out they bring it back in.
Set table, help clear table, wipe down & dry table. They are not allowed to leave the kitchen until everything is done and clear, so they stand with a tea towel waiting to dry stuff that cannot go in dishwasher. We chat/listen to music or podcast whilst doing this.
Ds1 knows how to cook simple meals (thai chicken curry) and does, Ds2 less enthusiastic (not a foody) but helps.
Will hoover rooms, wipe down bathrooms, know to leave a toilet as you found it - they have their own bathroom between them so if it is dirty it is only one of them.
Know to lift the bath mat out of the bath and stick it to the wall to drain.
Rooms are kept tidy, no food allowed (they have a large den downstairs so all gaming/computer etc is in there) laundry into basket.
I grew up in a teeny house so you couldn't leave a mess without risking someone getting injured. Dh was raised by a SAHM who taught him to cook/clean etc I am just repeating what she started.
Ds1 is a delight, makes lunches, helps without being asked. Ds2 complained that he had to make 2 cups of tea this morning
but expects me to wash, dry, iron his uniform, make him dinner, make sure there is food for dinner.
he doesn't see it yet, but Ds1 does.