I think Americans put a greater percentage of their wealth and identity into their possessions, especially housing/real estate. So to pay a random person ±minimum wage to be in this personal identity space is not desirable, even if you can afford it. It requires thinking of your home as more of a presentation space and less as a personal one.

Furthermore, most of the upper class already does hire cleaners, cooks, etc. The upper middle class, which is roughly the group of people you're referring to, is typically composed of people that are money-focused enough to think spending $10,000 a year on something they can do themselves is a waste.

There's also the simple fact that many people would rather have $10k a year + a dirty apartment and subpar food than the opposite.