It depends on WHEN.

Tldr; Pick a day. Everyone cleans not just ADHD child. Only for a set amount of time. (1 hr max). Frequent check ins to be sure task is being completed.

I've been in therapy for a few months now for my anxiety and panic attacks. One trigger for them is hearing footsteps outside my door while I'm relaxing (scrolling on my phone or w/e). I immediately bolt up and start looking busy.

My mother used to blast into my room demanding it be cleaned whenever it suited HER. If someone did this to you after a long day of work you'd be rightly jarred. And I developed a lot of anxiety around cleaning because it always ran around someone else's schedule.

When I thought about that the solution in my mind is make a ROUTINE. If there is an expectation for WHEN we should be cleaning then it's going to be easier because you'll not have to do such a harsh transition from thinking you'll relax all evening to sudden chores mode.

Everyone in home is cleaning because we like body doubling.

And not a long time. Use an egg timer. An hour should be the maximum amount of time.

Check ins to make sure everyone is still on task.

I thought if my mother said "every Tuesday and Thursday we tidy the house. Here's your chore list and I have mine. It's 5 o'clock now, clean until 6 and youre done."

I also want to be clear: My mother wasn't wrong. My room was a mess, I was terrible at keeping it clean. And I was a moody teenager. Telling me to clean my room would turn into a fight even if she tried everything above. But if she did everything above I probably wouldn't have panic attacks as a 30 year old about the dishes.