I hang everything to dry. I tend to keep undies and socks on a foldable drying rack, whereas most big clothes go on the clothesline. I feel like they're less on display on the drying rack, even though I put it outside to dry.
When I was studying in South Africa we handwashed our underwear every day and hung it on the clothesline by the front door! That was a bit odd for me - kinda like "hello everyone, check out the panties I wore yesterday!"