I admit, for my own stuff, I match the socks, but only fold or stack them. I stack my undies flat, no folding, no colorizing.
For DH, I fold and tuck his socks, and fold his underwater. Why? Because it makes him ridiculously happy. He literally smiles when he opens the drawer and it's full of clean, neatly folded stuff.
He has never asked me to to any of his laundry, much less in any specific way. I just noticed that's what he did when I started dating him, so now I do it for him. Silly as this sounds, I love doing it for him, because I know it makes him happy.
He is a widower and doesn't speak much about his first wife, who I knew only slightly, but my educated guess is that he did his own laundry, made his own lunches, and genera.lyrics saw to his own needs. I'm FIRE, so it makes me happy to be able to do these things for him. That said, I have a cleaning team too, remember?
One of the best things about having them is it forces me to keep up with all the things they don't do. It also gives me leverage with my MIL, who has ALZ and lives with us. For some reason, she never wanted her sheets changed. Now I use the excuse that the cleaning people are coming, and she strips her bed without hassle. What a relief!