I understand that this is coming from a place of privilege, but I was raised with regular maid service cleaning our home as a child and it's just something you learn to live with. You pick up after yourself for the easy things like throwing out garbage and picking up your clothes on the floor so the maids can do the heavy work like deep cleaning everything that's not in the way. And it's not necessarily unaffordable for biweekly cleaning.

You don't hire a maid service to clean up after you, you do it because they do a better job at all the stuff you really don't want to.