Hanging clothes, I hang back up, just the same as if they came out of the laundry. Others, I just fold on a shelf in my closet.
Sadly, pajamas usually just go on a heap on the floor by the bed, but what I intend to do is tuck them nicely behind the pillow if I make the bed.
If clothes have a slight odor, they don't get reworn. So putting them back with clean clothes is not a problem for me.
I would not want to put them in a hamper, as I'd worry they'd get wrinkly. Folded on a chair, like you said you do now, makes more sense to me. Or you could put a divider in your drawer and have clothes on one side of the divider be rewear and the other side clean. (A moveable divider, I just have thin pieces of wood in my drawers, tank tops go on one side, t-shirts on the other. I don't like when they get mixed together.)