I don't think there is anything wrong with having someone else clean your house if you do not feel like it. It's more the attitude we have that house-cleaning is low work that is the problem. If you treat them with the same respect you treat your mechanic or your doctor or your dentist or your carpenter or your electrician or anyone else who does something you either do not know how to do or would prefer not to do.

Neurodivergent, dementia, etc etc

Remember intersectionality