DS lived at home for six months when he was in his late 20s. We were lucky, the configuration of our house meant that he was able to use two bedrooms and a bathroom up a separate staircase so was almost self contained. He was responsible for keeping it clean.
I usually tossed his clothes in the machine when I did any washing. Fortunately he is an archaeologist and they dress a bit like builders. If he wanted anything ironed he did it himself. I included him in family catering, we enjoyed all eating together, but if he wanted/needed to eat other than with us, then he did it himself. He also enjoys cooking so would cook and cater for us several times a week. He also paid a sensible sum towards his keep. We did not subsidise him.
I do think it is sensible to discuss the ground rules openly, including her financial contribution towards the costs of her living at home. Having an adult independent child, particularly one who has also lived away from home for some time, back living at home is a very different from having a younger more dependent child living at home.
🦞 Locked down no longer but still firm friends 🦞