Cleaning? How much? What to do? How to handle it without fees?

I’m entering my second year of HE and I’m coming to accept some realities about cleaning.
I also like the spirit of exchanges and mutual responsibility without costs. However ’ve had to accept that cleaning standards are something subjective and some people just don’t want to do it / are unable to do it / have never cleaned anything themselves ever! There is nothing more disappointing than returning home after a 24hr journey and finding the place needs cleaning.
I agree with other comments that dialogue and clarity about expectations are important. There are also various situations where expectations cannot be met or assured such as early morning departures or back to back stays.
So I think there needs to be some flexibility and also a backup arrangement such as a cleaner or trusted friend.
As for guests who just don’t want to clean I now mention that I can introduce them to a local professional cleaner if that is their preference.