Plan some time for yourself. You'll have to negotiate it, but it is well worth it. It's easier to stick to if it is a routine and everyone knows "mom's not around to do it."
However, you need to sit down with your dh and explain that him complaining about doing chores makes it harder for you because 1) he's a role model for the kids and 2) the house needs to function or else there will be nothing, but chaos and that you - as his partner - will not tolerate a chaotic house.
When 10 hours of your day are taken up driving + the 40 (or more) you work, you don't have the time or patience to put up w/ the bad behavior of others. He needs to step up and help you and supervise the kids as they learn how to take care of a house. I'm pretty sure that he also wants kids who will be able to cook and have the ability to clean their own houses - take care of themselves.
Your kids are old enough to have privleges taken away, but you'd need the support of dh to enforce and be effective.
JMHO.
Oh - and don't nag. If you give someone a chore and it doesn't get done. Don't nag them about it. For instance, it's my husband's job to do the trash. If he doesn't do it, then most the time it doesn't get done. Once in a while, if there's just way too much of it sitting in bags by the door, then I'll take it out if it's been a couple of days and they still haven't moved! However 95% of the time, he'll get it out because he knows it's his job to do it and more than likely I won't do it for him.
It might take something being gross for awhile for someone to get motivated to do their job; however, when they see that mom isn't going to pick up the slack and do it for them, they get the message that they need to do it or it won't get done.
So if someone's laundry isn't downstairs by an appointed day/time, then it just doesn't get done until it's downstairs next week at the appointed day/time. If they complain about not having any clean underwear show them a calendar and a where the laundry goes so it can get done in a timely manner. If they aren't happy with that, then show them how to do their own laundry so they can choose to either do their own laundry or have mom do it. I think I was 12 when I started doing my own. 10 still might be too young????
You'll have to see what others think about that.