You need a living unseen servant.
The spell unseen servant allows you to conjure a servant capable of performing the desired task:
The servant can perform simple tasks that a human servant could do, such as fetching things, cleaning, mending, folding clothes, lighting fires, serving food, and pouring wine.
Now, the spell only lasts an hour, and ends if your command takes the servant more than 60 feet away from you. It is up to the DM how far away another plane is from your current position, and if going into the pocket dimension of a portable hole would end the spell. However, there is a permanent version of the spell that will be able to live inside a portable hole. The living unseen servant featured in Waterdeep: Dungeon of the Mad Mage performs tasks as described in the spell, is permanent, and has the Constructed Nature trait:
Areas of wild magic and sites that have been ravaged by powerful eldritch forces can give rise to spell effects that refuse to dissipate. These so-called living spells haunt the places where they were created, subsisting on ambient magical energy.
Constructed Nature. A living spell doesn’t require air, food, drink, or sleep.
So it will survive just fine inside the portable hole. The challenge here is finding a player-facing method of obtaining a living unseen servant, but you should be able to work with the DM to obtain one or somehow make the spell permanent. Since you mention true polymorph, you may be able to just use it to create a living unseen servant out of some appropriately sized mundane object:
Object into Creature. You can turn an object into any kind of creature, as long as the creature’s size is no larger than the object’s size and the creature’s challenge rating is 9 or lower. The creature is friendly to you and your companions. It acts on each of your turns. You decide what action it takes and how it moves. The GM has the creature’s statistics and resolves all of its actions and movement.
If the spell becomes permanent, you no longer control the creature. It might remain friendly to you, depending on how you have treated it.
Finally, the servant will need soap (lavender preferred), a basin, a washboard, and fresh water. All you need to do is periodically change out the water and soap. Given the size of a portable hole, there should be plenty of room for all your other stuff.