I hear ya! I used to do all the laundry and had to keep reminding my husband not to leave his socks in a ball because I didn't want to stick my hand in them to straighten them out. My children's socks, too. Finally, I thought screw that and just tossed the socks in the washer in a ball, and that's how they got them back. It only took a couple of times to train them.
But, over the years, we morphed into a comfortable place. I'm still the one who cooks, but my husband puts away leftovers and does the dishes. We both run our own businesses and support the other, but there are some tasks he's better at, since he's a contractor and physically stronger, and we both help the other when possible. Kids are older but one is still at home, and we have five dogs, so there's still a lot of walking/bathing/brushing responsibilities to divvy up there. If he asks me to do something, I will if it's possible and if I ask him, he will as well. If anything, it's hard for me to keep up with doing as many things for him as he does for me. I like landscaping and birds and he'll typically build a half-dozen birdhouses for me over the winter to add to the ones we already have in early spring. Once, I said, "I think a courtyard would be nice," and the next thing I knew he was asking me to choose from various architectural plans he'd drawn. So, it works out well. It's a partnership and I think it works because we both try to make the other person happy.