Scooter.... make your goals achievable, so make some small to gain self-confidence. I am sure tidying up your closet is perfectly achievable within a few days. Break the clutter in your house into a group of smaller, precise goals (eg go by room, or even section of a room... like clean recess shower, clean bathroom sink, etc).
Setting boundaries is tricky as you don't want to appear cold and aloof with people around you. On the other side, you don't want them to take advantage of you. Maybe in your job look carefully at what is expected from you according to your conditions of employment. Then see if you can do a bit more without feeling exploited. This is harder to do with family and friends.
