Hello
From what you wrote I would not call you a hoarder, I'd say you are a "messy".

Sounds like you just need to learn a regular routine.

A few minutes every day to keep things under control.
Time every week to handle laundry and do a few cleaning tasks.

Picking up and cleaning up after yourself will become a habit if you do it consistently and your home will stay company ready.

A great place to start is with the garbage, obvious trash.
Every day look around and bag up the trash.
Get it out to the can/dumpster at least every week.
Keep a trash bag in your car & use it.

Do this for 40 days and it will become a habit.

Clothes...
Put dirty things in a hamper and wash at least every week.
When they are all dry put them away in the closet or dresser or linen closet.
This can become a habit too.

Dishes are a little harder because everybody hates to do the dishes.
But if dishes are washed up daily it hardly takes any time at all.
Five minutes and it's all done.

It's just about establishing habits to maintain your home.
Picking up and putting away things as you finish using them.
Wiping up any spills/messes as they occur.

Good luck establishing new habits! ;D