Hi,
I work on my own 3 or 4 days a week. For really busy days/commercial larger jobs have a friend who's also self employed and works with me.
I have never had a problem with people letting me and another person in their home to clean for them.
I nearly always quote over the phone anyway for small domestic jobs, for more complicated or larger jobs i will always go and quote but will be on my own.
I dont think many people will have a problem with a 2 man team carrying out the work, it takes a lot less time and you're in and out sooner.
I can however see some people having a problem with 2 people going to quote! There really is no need to have 2 people quoting unless you're training someone. You could ask them at the door (while the second person is still in the van) if they minded someone being there for that purpose and if they agree then fine.
Hope that helps.
Jason.