Try setting a timer! Star with 5 minutes, then 10, etc. You will be amazed at what you can get done when you focus on one thing for a specific amount of time.
That is because you look at it as something you don't want to do. Yet you don't like the mess. So you do want it cleaned up, but you don't want to do it. You need to learn a new skill. Clean while you make things. Or, you decide it is worth it to you to feel better by having a clean kitchen. What is stopping you from having that clean kitchen? The key is you just start cleaning. How long will it take? 1/2 hour? Not that long. Then, you will sleep better and life will go smoother because you got thsy done. It's the old saying work before play.
I feel for you, there are just so many things I’d rather do. But then it piles up and encroaches on my well-being and takes even longer to clean up. My solution: if it takes less than three minutes to do, do it right away. It’s much less intimidating and even the remainder that takes longer becomes much more manageable.
Don't procrastinate and put everything back in its place. Schedule 10 minutes every night to organize 1 closet. In 2 weeks you will never have clutter in the kitchen again