Cleaning up immediately is objectively better unless you have something urgently important that you should do instead.

The dishes? Clean them immediately and the food just washes right off. Clean them hours later means you need to do extra work getting the dried on food off.

Putting things away immediately after you’re done with them means they are out of the way and you know exactly where to find them when you need it next. Your house is more enjoyable to live in and you can invite guests over without worrying about cleaning before they show up.

You notice the time it takes to clean and organize (which you have to do now or later), but you don’t notice the small amounts of time wasted doing extra work because things are waiting around for you to clean. Individually those things don’t seem like a lot of wasted time but it adds up. And what are you gaining by waiting?