Laundry advice?

This is definitely a problem for ALL parents, but perhaps someone on this community has figured out some magic system I could actually work with.

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Two adults, two kids, pets. My special needs kid can go through several outfits a day, and so I am combatting urine and food stains and the normal debris from summer time outdoor play. And while "logically" doing the laundry is a lot of downtime with washing and drying cycles, having the opportunity where everyone is regulated and safe and entertained so I can leave the room and go do a load of laundry often feels impossible. Forget folding it and putting it away.

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My kid is often able to dress herself, and being able to get her own clothes is a HUGE deal for her self esteem, so I feel a lot of pressure to keep the kids' clothes organized and accessible. And right now I am looking at a laundry room with four or five loads of washed and dried laundry sitting in heaps on the floor.

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The last two/three weeks have been disregulation city around here. My partner and I have been able to keep the kids and pets fed, kitchen manageable, and the bathroom clean, but that's about it.

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Is it ok to live out of laundry baskets? Does it matter if the kids go to summer programs in wrinkled tshirts? Is there some way to get a handle on this so I don't feel like such a slob every few weeks???