A good conversation can happen while the dishes are being done if both people are welcome in it.

Some of the easiest talking happens side by side rather than face to face, with hands busy and no obligation to hold eye contact. The washing up, the drive, the shared chore: these lower the pressure enough for things to be said that would never survive a formal sit-down. What ruins it is one person working while the other watches.

Join whoever is at the sink rather than talking at them from a chair. Pick up a cloth, take the slower job, and let the conversation come out of the shared task rather than sitting on top of it.