For me, this might mean studying with the knowledge that when I get antsy and need to task switch, I can do the dishes instead. It feels like a weird form of circuit training
Or you start out with folding clothes, then start putting them away, get distracted by the dishes or cleaning up the bathroom, and start on that other chore. The key is to eventually get back to the original (easier said than done), but even if you didn't really get it done quickly, you often put yourself in the mindset of cleaning, which helps on its own.
Chaos is the natural state, but life is part of the universe and life brings order. As long as there is energy for life to use to do its work, it will continue to bring order to an unordered universe.
I've had good results managing it by planning my week very loosely: I write down 1-3 things I plan to do each day (including work, exercise, cleaning, leisure, seeing friends, appointments) and it's just enough structure to keep me moving without being stifling.