That’s why I like Unfuck your Habitat. There was a blog, a book and an app.
It talks about how cleaning is morally neutral, and doing something is better than doing nothing. I don’t have any affiliation but I find that 20/10s (or even 10/20s where you clean for 10 and break for 20) allow just enough measurable progress for me to feel as though I’ve accomplished something, to put the “you’re useless” thought to bed.
Of course this doesn’t help if you’re not ready for it, but know that you’re not a bad person for having a messy living space. I’m sorry that your disorder makes things hard for you.