There are long handled cleaning tools. I have seen a video of cleaning a bathtub with Dawn and a broom. It might be easier to open the windows, turn on the fan and use Wet and Forget Shower Spray. It's available thru Lowe's, Amazon, Walmart, etc, etc
I use garden knee pads. After my back surgeries you find ways to get things done with the least amount of stress on your back.
Hire someone to help with your simple but difficult chores.
Attach a squeegee or rag to a telescoping pole.