Always. Sink is empty, dishwasher set, counters clear and wiped, blankets folded, clutter away. My DH and I consider these "closing duties." Doing it well is how you show respect to the person (in this case future us) who "opens" in the morning.
We live in a two bedroom condo and the kitchen/dining/living area is all one big space. If it isn't cleaned up the night before then mornings are stressful.