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you should always fold your undies, try organizing them with a grid divider which will create individual compartments for each pair. when doing this make sure you dont have an exccesive amount and when an one gets old replace it and throw out the old pair. also most people tend to wear and rotate out the same 12 pairs.
when it comes to bras organize them by color and lay them flat, instead of folding. you can store them cup to cup if you would like so that they retain their shape. keep lingerie sets together and seperate from the rest of your basics.