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You can balance this out by mentally making 'pause' periods where you dont have any work going. Let your pawns gather everything that needs to be gathered and clean up.
Another thing that can help is making sure stuff doesn't get dirty to begin with. Use flooring to create porches and paths.
People won't stick to the paths you make, but it doesn't make them useless. The transition from dirt to flooring is basically like walking on a door mat. It is first opportunity to remove the dirt from your feet. Plenty of outdoor flooring will keep the dirt mostly outdoors and also concentrate it in your most highly trafficked tiles (which means more ideal cleaning opportunities).
Ensoulment can help a bunch with cleaning also. In general, can't recommend ensoulment highly enough as early as possible. It's also relatively cheap and well worth it, even with seemingly 'expensive' spirit stone block vessels. The vessels can deliver building materials and will have everything delivered/scaffolded before outers can even start building it sometimes.
I have a central courtyard where the outers have to pass thru, plus several other chokepoints that I've put carpet on, so between that and vessels my outers are fairly content until they have to walk out of the compound.