If you provide cleaning or gardening services, it’s a good idea to ensure this is included in the tenancy agreement, along with the frequency (for example, once a week). If this is clearly set out and agreed upon by your tenant, you shouldn’t need any further permission.
Of course, it’s always courteous to agree on a fixed time and day so tenants know when to expect you. This can also help ensure schedules aren’t interrupted if tenants work from home or have small children.