Healthy and cheap ways to clean house

I tried to think of a way to make this post sound more interesting. Cleaning isn't exactly exciting to me, but it is neccessary, and since we have three kids and two dogs, I spend a decent chunk of time each week cleaning up. Most household cleaning supplies are not really eco friendly. They are also mostly toxic, and pollute not only the water system they're dumped into, but also the air in our homes. I don't particularly like the idea of keeping a bunch of toxic chemicals around when I have curious children and less than intelligent animals roaming around. To top it all off, cleaning products are expensive! I can't imagine how much money I have spent on various cleansers to do a variety of different jobs, and their eco-friendly counterparts are almost double and sometimes triple the cost of conventional supplies. For years I have used white vinegar and water to clean most things, and baking soda as an abrasive. We recently switched to Dr. Bronners liquid castille soaps for our dish soap, shampoo, and we also use it for our reusable wipes. I was still spending too much money (in my opinion) on laundry soap and dishwasher detergent. My sister-in-law, and a close friend both make their own laundry detergent using borax, washing soda, and one form or other of grated bar soap. I got the recipe, gave it a try, and have been very happy with the results! It's pretty easy to make, safe for the environment, and saves tons of money! After a bit of research I also found a recipe online also using borax and washing soda with the addition of citric acid and kosher salt to make dishwasher detergent. I used this with some success for a few days, but we have very hard water, and no amount of tinkering with the recipe has helped. I'm back to seventh generation stuff for now, but I hope to one day find a recipe that works! Without further rambling, here are the recipes for laundry soap and dishwasher detergent.
Laundry Soap:
1 cup borax
1 cup washing soda
1/3 bar of Fels Naptha soap, or 1 bar Ivory soap, OR 1/2 bar Dr. Bronners soap (I use lavender scent) grated.
Mix the grated soap, washing soda and borax in a bowl with a spoon for about five minutes, or until it's thoroughly mixed. You could use the food processor too if you like. Use about a tablespoon per load. Easy as pie, and super cheap.

Dishwasher detergent:
1 cup borax
1 cup washing soda
1 cup citric acid (I used Ball Fruit Fresh in the canning section. Some people use a packet of Kool-aid, and some use a product called Lemmi shine)
1/4-1/2 cup kosher salt.
Mix it up. Fill the rinse agent compartment with white vinegar (works as well as Jet Dry).