Have her do chores.

She is unwilling to be responsible for herself.  She will pay a price for that.  She doesn't realize it.  But she will pay.

She might be taking pleasure in seeing you irritated. It gives her a sense of power.

Next time she lashes out at you, tell her that she has the mind of a slave.

Instead of washing her clothes, teach her to use the washer and dryer.

No need to be too neat yourself.