I was thinking exactly the same earlier this week - I grew up in a very untidy / unclean family and never learnt how to clean. It had never previously occured to me that I'm struggling to keep things clean because I actually don't know how to do it. I was wondering if I could find a local cleaner to come and teach me. Actually maybe a chambermaid would be better than a cleaner - I had a temp job once doing that and the full time people were super-efficient.
If you have the time, what about taking a weekend side gig cleaning houses for a few weeks? Rather than have to ask a favor or pay somebody to show you how to clean? It's not rocket science but it is developing good habits.
When I was younger, I had a job through my school, cleaning dorm bathrooms. I used to clean 10 bathrooms a day... I remember that once I spent over an hour cleaning some jocks' filthy shower (not required, just my personality) and they felt so bad for me that they kept offering me beer! I also took on some independent work as a cleaning lady. Anyway, at least I can now clean my own bathroom very fast.
The trick to a clean house is: clean often. That sounds obvious. But for instance, if you only clean the bathroom once every 6 months, it is going to be a 2 hour horror of scrubbing, and then it is only clean for a week. Whereas if you wipe it down every day or every other day, you don't have to scrub or use any terrible chemicals, and the bathroom is always clean!
It helps to set a little schedule and route for each room, i.e. I always first put cleaning solution in the toilet, then clean the sink, then the shower, wipe sink dry with rags and polish all stainless fixtures, then use old rags on toilet last. Finally spritz the bathroom mirror with glass cleaner, wipe with paper towel or newspaper, then use the damp paper to sweep up stray hairs and dust from the floor. This usually takes me about 5 minutes if I do it every day, plus the house is always company-ready. Twice a week I'll also mop myself out of the bathroom.
Oh, one thing I do also is I cut my bathroom sponges in half in a special way, so that sink/tub sponges are shaped like triangles, and toilet sponges are half-rectangles. That way nobody will confuse the two.