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Do you have a walk-through kitchen?
Make sure the kitchen only has 1 entrance and isn't used by other pawns to walk through between job trips and hauls. This will save you 90% of the dirty buildup in the kitchen when nobody else but the cook and the cleaner comes in. I tend to build mine as a self contained room a little off from the fridge.
Also consider getting a proper janitor. They are a pawn you will use on the front line, either melee (preferred) or ranged should be their primary skill since cleaning and hauling are non-skilled job types. Then prioritize them backwards, Cleaning first, hauling second, then whatever they are good at, personally I have a preference for wardening but thats just me.
This way you're working the work tab schedule on two ends. Normally cleaning is done last and therefore always skipped and ignored by most pawns. Make sure that someone starts at the end of the tab first and moves up in priorities.
Also like someone mentioned, make sure that floors are tiled between your busiest walking destinations (even outside, use flagstone or something, it looks nice too) as this will prevent dirt from being pulled into the rooms.
Making sure rooms you want to keep clean don’t have pathing through them and setting a pawn to forever cleaning duties are the two best non mod ways.
https://steamcommunity.com/sharedfiles/filedetails/?id=870089952