My 3 all partiticapte in all household chores.
Our washing isn't separated by person but by colour. 1 load a day.
As a lone parent I need them to help if I spend most of my evenings ferrying them to after school clubs. So I can be ferrying one of them another will be doing a laundry shuffle. Each of them is expected to iron their school shirts for the week.
They are all expected to chip in with food prep, including the meal planning and shopping stage, putting shop away, cooking, and cleaning up after meals.
They have their individual chores they are responsible for too, like the bins, emptying dw etc.
All of them can cook, yesterday my 11yr did a roast all on her own, although she checked with me verbally re timings etc.
They also help with DIY, 14yr old recently learned how to use a drill to put a curtain rail up.
It's just not possible for one person to work full time, ferry every evening and do all the household chores so they have to pull their weight. I honestly believe a large part of self esteem comes from being able to do this stuff. Think of toddlers and their determination to do stuff on their own even though you want to help/hurry them along.
Start gradually and build it up. They will thank you in the long run. Dont use it as a stick to best them with, more being part of a team and if they help with x then you will have time to do y with them. Don't expect it to be perfect either, good enough is good enough. 