I think that "Mrs. Steve had me clean the kitchen" is merely an idiom. Once analyzed, it makes no sense. We've simply heard it so many times we know what is meant. Why? Synonyms for 'had' are 'owned' and 'possessed.' Can we say Mrs. Steve owned me clean the kitchen? No. Mrs. Steve possessed me clean the kitchen? No Saying that 'clean' is an infinitive does nothing to make sense out of an illogical construction. However that may be, good on you for helping her out, Steve. I find that cleaning the kitchen is a good time for singing.
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