I struggle with this too. It's very frustrating when you have made a point to do something that has been asked of you just to see that person do the thing they asked you not to do. Saying something could lead to a blow up. Not saying something leads to resentment. I'm learning that it's better to say something than to let it build.
It's scary to say something that you know might end in a fight. I use DEARMAN in these situations. I start by describing the situation. In your example of leaving clothes lying around:
Describe the sitaution: I found clothes lying on top of the washer.
Explain: I'm feeling a little frustrated because in the past I've felt that it upset you when I left my clothes there.
Assert: It would be fair to me that if I am expected to put my clothes into the washer that you would also do the same.
Reinforce: Come up with a positive aspect of not being hypocritical.
Mindfully: If she begins to try to change the subject, bring it back to what the real problem is--you feel that's it's unfair if she can do what she asked you not to do.
Appear: Be confident in what you are saying. If you expect her to blow up, she probably will becuase she will see you walking on egg shells
Negotiate: If it's not important that this is done anymore, that's ok too. I just want us to be on the same page about it. What do you think is a fair arrangement?
Here's a link to our workshop on DEARMAN
https://bpdfamily.com/message_board/index.php?topic=160566.0