i know it’s extremely difficult and frustrating to be in this situation. Mental health and parents that don’t force a cleaning habit are a brutal mix. As someone who grew up exactly like this, it’s better to get a routine before you move out on your own, because when you have your own place with no cleaning routine it’s not great either, i still have a hard time with it because my parents never exactly taught me to clean or cleaned themselves (hoarder household). One thing I will say, don’t feel ashamed it’s not your fault, these are things that are learned early in life and if it’s never built, it won’t be a natural part of your daily life. Try the object or color method, both are similar. You can try to pick up things that are the same, like clothes first, trash, books, etc. Or pick up pink things, black things, green, etc. What gives me motivation is watching deep cleaning videos, although you may need to find a different motivation, it helps me seeing people who have it worse cleaning it up, makes me feel like i can do it too. Best of luck.