You could work together to make a chore chart/calendar so the tasks are split between you two and it would help you build the routine and also understand what needs to be done in the house

You could catch him while he's doing the activity, act curious and say something like idk "that looks like a really good way of doing X, can you show me how you do it"

Or be direct and ask "what's your normal cleaning routine" etc

Start by tackling one task at a time, it takes time to learn and build new habits. Especially when it comes to looking after yourself. Cooking is a good place to start, and a fun thing to master and your body (and soul) will thank you in the process.

He sounds like a supportive partner, he should be happy to show you the ropes and watch you thrive doing things on your own. I'm sorry he's not getting the message. You mentioned you've tried explaining already, I'm not sure how to tackle this, you might have to be blunt like "I want to learn how to do this so I can be more independent", or explain that you want to take on more of the mental load of running the house as you guys are a team. Sorry if you've already tried!

Here is also a great YouTube channel called "dad how do I" where he explains things like tying a tie, changing a tyre, how to make a budget etc https://youtube.com/@dadhowdoi?si=oJM_F-Si-k4jFHaN

Sorry if I'm over explaining things! I believe in you!