I don't think it is that people cannot learn these things later. It is just that if you don't learn to do housework, cooking etc routinely then it can be harder to get used to as an adult. It is easier to be a slob if you are not used to doing for yourself.
I agree. That's why I'm trying to get the kids into simple routines, so it doesn't become a "THING" they have to do, it's just part of the routine and not a big deal.