I really like this piece of advice. When I was team captain in high school we literally had 75+ grade 9 students at the start of the year. Delegating was a lot of work and unfortunately we lacked the mentor pool to really get everyone involved. We’d try to have everyone on the team no matter their experience clean up. The grade 9’s we always paid the most attention to were the ones who were happy to join us. In fact I don’t think we had a single student who helped clean up not become fully involved and integrated into the team.
While obviously no one joins a FRC team just to clean, volunteering to do these things can show a lot of maturity and respect for the team as a whole.
Specifically to OP, your problem sounds like a team culture problem more than anything. Unfortunately team culture is one of the hardest things to change. I commemorate your ability to stick through it. Continue to stand up for yourself and try to use your role to change things for the better.