I did not require my children to do regular chores since they were three-season athletes and the high school homework load for honors and AP classes is very, very heavy. As it was, their academic and athletic schedule did not allow them enough sleep. I did, however, ask them to chip in with small tasks regularly, like setting the table, and more when it seemed they had time to do so, such as over breaks. They still turned out to be highly competent, independent young adults who had no trouble learning to cook, do laundry or clean the bathrooms for themselves once they needed to.
In my opinion, the institution of daily chores belongs to a different era when we had an agrarian society. Animals, crops, and the large family that was the norm all needed constant attention, so kids had to do their share of the work. Our world is now industrialized and specialized, which the OP should appreciate since she has a housekeeper who does for her some of the chores that all but the wealthiest women of the past would have needed to do themselves. Therefore, I am not sure why the teenagers should have to adhere to an outdated standard. Household chores are not so hard that one needs to accumulate years of experience in order to do them well as a young adult.