You need to start saying no. Denial is not a bad thing. It may hurt them at first but you need to be a bit selfish when it comes to your priorities.

Stop analysing what you should or shouldn't do. You're not a bad person for saying no but not learning to will have ppl coming to you all the time as they see it as a given. What would serve you to do in this situation?

Did she do a good job of raising you?

The roles are sort of reversed now. Your a mother yourself and best to have a nice chat than lose it !! Trust me...my dad has moved in with me and I lost it the other day with him and he sulked for days. Cool and calm ...

Just take a print out of this post .. add "oh god!" On top .. and leave it on her bed ..

Yeah I’ll have to remember that

i think you just have to be firm and communicate. Everything you're asking for is reasonable. Don't drive the truck in this state and if she wants to do laundry every day she has to chip in with utilities.