Deciding what chores are realistic for different ages

Our children are different ages and have very different ideas of what counts as an impossible chore. The older one can handle laundry and basic meal prep, while the younger can put toys away but needs a reminder every few minutes. I'd like the chores to feel like part of living together rather than punishment for making a mess. How do you set expectations that grow with age without constantly comparing siblings or paying for every small task?