We sort into stacks by type of clothing (socks, underpants, etc.) & place into drawers. Jackets, shirts, pants, & dresses go on hangars. The only clothing that gets folded are undershirts & handkerchiefs (DH), because they fit better in the drawer & have fewer wrinkles. Towels get folded or rolled to save space on shelves.
We also presort dirty laundry into separate hampers by color, i.e. whites, colors, & stuff that needs special treatment. When a hamper is full, it's time to wash it, & colors don't bleed into whites. We started this when we were using apartment washers -- we could bring the multiple hampers to the laundry room at off hours & get the entire job done in an hour. When we finally had a washer & dryer of our own, doing one load at a time was an adjustment, but washing only when a hamper is full helps with timing & efficiency.
Kids can & should do their own laundry once they are teens, using their own hampers.