Kate you do need to have friendly chat with daughter who's approaching mid-life.

Need to lay out objectively what might be good things she could do to help around the house since she is an adult and knows what it means to keep a home decent/livable. Of course, her standards of cleanliness are different but it's not her home.

And leave the mess if she creates it if possible. Otherwise picking up after her, she'll take you for granted.

Other option is if you have an extra basement kitchen with room for her to treat whole area like an apartment where she must look after that space. Otherwise she pays abit of rent to you or buys some groceries for home to share. Latter, would be quite reasonable to ask, Kate. A few groceries aren't that expensive...otherwise she'll take you for granted. It's easy for adult children to slip into baby/child mode.

I will add here: I paid a small token monthy rent to my parents when I lived in a 2nd house that they owned but rented out to tenants. Just after university when I had very little money but was working part-time. Since parents lived in a different city, we (myself and other siblings) were required to fulfill some absentee landlord responsibilities...by maintaning parts of house --garbage, snow removal, cutting lawn, raking leaves, etc. It was a good thing, Kate. Because I lived like that for a few years before...I bought my own home.