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Cleaning is a minor activity in the series. It refers to multiple different activities, but most of which are single-use. Persona 5 Royal introduces an activity based on the same chore that can be performed multiple times.
"If you have nothing to do, let's clean up this room. An uncluttered room is an uncluttered mind!"
On April 9th, the protagonist will get to clean his room as a scheduled event. It is a story activity, so cleaning is unavoidable.
Later on April 17th, as Morgana will teach the protagonist how to craft infiltration tools, he will order the protagonist to clean his desk. Doing so in itself won't pass time, but as it's a tutorial event, it will instantly lead to having to craft a Lockpick for the day.
In Persona 5, the protagonist may clean his room one more time, but that activity passes time. Doing so will have him obtain the Yoncha Wanderer book. It will also grant access to interacting with the houseplant and the ability to decorate the room.
In Royal, cleaning the protagonist's room the third time will also yield Social Thought.