Write down the areas that you cannot clean, such as under the bed, moving the couch and cleaning behind it, getting up on a ladder and cleaning the top of the drapes, cleaning the baseboards… This may take you a few tries to figure it out.
Keep a running list and stick it on a cupboard somewhere. When you see something that needs cleaning, but you can’t do, write it down.
Update your list every time you see something you know needs attention, but that you can’t do. Keep a separate list of things you know you can do and figure out a schedule for those chores.
This is a great list to work from.
https://bungalow.com/articles/the-complete-household-chores-list
Pay special attention to the weekly and seasonal chores, but really anything on this list that you cannot do is something you need to put on the list for the maid service.
If you work at it I’ll bet you can keep your house looking nice and pleasant.