Cleaning isn't an inherently undignified job

So what? It is still a job that most people don't want to do. It is a job that people do when they can't find other work. And typically the working conditions are poor.

The point isn't whether anyone would "do fine in a job like that". The point is that very few people are signing up for those jobs voluntarily.

For work that is genuinely unpleasant, there's no reason I know of there can't be non-monetary perks that would make it worthwhile.

This I agree with. As a society we should be rewarding people who fill these very necessary roles. Janitors, especially those who work in medical facilities and have to regularly deal with biological waste, should be getting a lot more compensation.

Regardless of whether that compensation is in the form of money or not, I don't think that's an example of anarchy. Providing such compensation would require some form of organized group that distributes it to the people doing the work, which means that group would have to collect whatever resources are necessary in order to distribute them, and then we've just reinvented taxes.