When carrying, hold close to your body.
And utilise friction.
Holding items close reduces the effort needed. Pressing them against your body creates friction which transfers weight onto your body instead of your arms. Some items can be comfortably carried on your shoulder.
Swap back and forth between different activities.
And swap left and right arms.
Variety in tasks means variety in the muscles used.
Each time you change, the tired muscles get a chance to recover. For example: do a few minutes vacuuming, swapping arms, then take out the rubbish, then return to the vacuuming.