The correct answers are: The head chef asked whether they had seasoned the soup and insisted that they clean their stations immediately. The head chef asked if they had seasoned the soup and told them to clean their stations immediately.

To report a yes/no question, you must use if or whether followed by standard subject-verb word order (no inversion). "Asked had they" and "whether had they" are incorrect because they keep the auxiliary verb before the subject.

For reporting commands, you can use a verb like told/ordered + object + to-infinitive ("told them to clean"), or a verb like insisted/demanded + that clause using the subjunctive mood ("insisted that they clean"). Note that demand cannot take an object pronoun before an infinitive ("demanded them to clean" is incorrect).