I only buy one type of socks that way I can dump them in the drawer and it’s still “organized” or at least uniform looking and super easy to make a pair. I refuse to help with my family’s socks. Finding pairs in that mess of fashion makes my brain hurt.
I normally fold socks. Underwear I just toss in the drawer with my socks.
If you get one of those honeycomb style drawer organizers you can stuff them in the holes & still feel like they’re organized.