With the little weird caveat that poor students at top institutions have to work doing things like cleaning the bathrooms of the richer kids as part of their "term-time work expectation" for receiving financial aid.
At Harvard at least, there is a "dorm crew", comprised mostly of poorer students meeting their term-time work requirements that come with finaid, that is responsible for cleaning the in-suite bathrooms.
I think I recall recently reading that some schools might have finally eliminated the requirement (maybe, Yale?) but I'm not sure. It was definitely the case at Harvard as of ~March 2020. (but probably not for this year for obvious reasons!)
Yale has a `student income contribution`, where students on finanical aid are expected to work in some term-time jobs. However these jobs are virtually all administrative (doing paperwork, making calls, etc.), research or teaching assistant-ships. I have not heard of poorer students doing any cleaning.
With the little weird caveat that poor students at top institutions have to work doing things like cleaning the bathrooms of the richer kids as part of their "term-time work expectation" for receiving financial aid.