This would very much depend on circumstances and as both my AC are generally neat and tidy they do manage to keep on top of their housework despite both working full time. However, if I were at either of my AC homes, during adult illness etc for nstance, probably the only places I would volunteer to help clean and tidy would be the kitchen and the bathroom for hygiene reasons.
Bedrooms are private places surely? My GC are all old enough to change their own beds, tidy up and run the hoover around.
My AC would, if asked, do some cleaning for me if I were unable to cope but they are of the same frame of mind as me, keep the kitchen and bathroom hygienic.
None of our family would invite anyone to stay or even visit for a day and expect them to clean up, that would be done before they arrived!
