As someone with ADHD I actually keep a broom leaning against my standing desk and sweep to busy my hands whenever I’m thinking or on a call. Dusting/washing walls simply doesn’t happen in our household due to how many steps are involved - but for most other cleaning we build it into tasks - so as I cook I clean cookware as I go - when I finish showering I squeegee the glass, and there’s cleaning fluid within reach if I notice build up.

These are all really exploits designed to help ADHD people do shit but maybe they’ll help you!