Several thoughts:
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Is there "heavy work" that she can do in the house? Ok she can't hang up laundry, but what about carrying half a basket of laundry for you to hang up? Give her a bag of oranges to put away when you've done the shopping. Have her haul her laundry down to the washer -- even if it takes her 3 trips. That sort of heavy work might meet her sensory needs and reduce the amount of random noise making. A mini trampoline in the living room? I know that my kids' tics and noises do get less when they get enough exercise, especially whole body exercise. Friday night, ds was pulling his hair and holding his hands weirdly so he wouldn't touch anything (his current two weirdnesses). Saturday, he played basketball for 90 minutes (with stoppages) and football with the neighborhood kids for 2 hours. No hair pulling and less weirdness with the hands.
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Now, OT: We started "chore time" when dd was about 3 and ds was about 6. Chore time consisted of 15 minutes after dinner. I wrote down very specific things on popsicle sticks for them to do. they would pull a stick, do the chore and go back for the next one until the 15 minutes were up. I'd mix them up depending on what needed to be done. "Pick up 15 things on the living room floor." (The fact that this was in there several times gives you some general idea of the state of the living room floor!) "Vacuum stairs." "Scrub sink in bathroom". When they were really little, I had to work with them, showing them how to do it. Yes, it is more of a pain than doing it yourself. But I didn't really view this time as "cleaning time", I viewed it as "teaching time" where a little cleaning got done. So maybe the key for you will be to think not of this as actual cleaning, but as part of your homeschooling time. Daily life skills need to be learned too. The other key for me is that I make sure I'm the one who does a chore the next time if the kids do it one time. So, if the kids scrubbed the sink this week, I'll do it more thoroughly next week.
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We've recently moved to a 'new' system -- I've made a list of chores that need to be done to keep the house minimally clean. It doesn't include the decluttering and other things (like cleaning out the fridge) that need to be done over the course of a week. I've divided them into roughly 6 days' worth of work (Tuesday is garbage night). It doesn't matter which chore is done on which day, but over the course of a week, all should be done. And instead of working for 15 minutes, they work until their chore is done. Last night, the kids scrubbed the bathroom floors. Was it perfect? No. But ds' was pretty close. Dd had to go back and do a few parts over, and today I noticed some spots she missed. That's OK. I'll get those next week. And there was some teaching going on. Ds (age 10) started in the doorway and was working his way back to the corner. I had to explicitly tell him to start in the corner and work his way to the door!
Apparently that wasn't self-evident. I also had to help them sweep the floors, as neither is great at that. So, yeah, you do have to lower your standards a bit. I don't know of any other way for kids to learn to do chores than to actually do them. And do them badly at times so they either have to go back and redo them or be made aware of how to do it the next time.
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For cooking, I set aside times to cook with dd (ds isn't that interested) when I'm not rushed. There are days when I say "you can set the table" if she asks to help. But I'm not having her cut tomatoes or slice meat. She stirs food quite nicely, however, and cuts out a mean biscuit.
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