We use chorepacks from Titus2.com. They are great. My 4yo has picture cards and can get up, make her bed, dress herself, brush her teeth, get me for hair, feed the dog, and take out the trash (her choice), with little help from me. We do have a read your Bible one, but she just listens for that one. It is amazing how much time it helps in the morning. Yes, I have to remind ocassionally, "Are you doing your chorepack?" But I think this would be true with any chore system! She is just 4!
I do have each child have specific chores that are "theirs." I feel it gives them time to master them and sure helps with my memory! The 4yo always feeds the dog, the 8yo always sweeps the bathroom floor, etc. The jobs that are a little more involved like rinsing dishes are done by more than one child at different times of days.
I've timed their chorepacks and they take about 1/2 hour in the morning and even less at night. I can give a run down of our chores if that helps. Our dc are 4, 6, 8, and 11.