For me, I would throw the underwear in the drawers. Who cares if they are neat and pretty??? No one except you would use it and your mom or mother in law does not snoop in the drawers to find out if her daughter is doing her job??? Same for socks, I throw them in the small laundry basket. The only things are getting folded are the shirts, and pants and towels. Bedsheets get "rolled up" like a tube and stored away.
My mother was picky about it and after while, after her daughters all moved out, she deserved to have a rest raising her family, and not having to fold every items that has been washed and dried.