Drawers that do not get messy again
Short answer: Give each category its own compartment and fold upright. Mess appears when two kinds of thing share space with no boundary between them.
Why drawers get messy
If socks and underwear lie mixed, you have to rummage to find what you need. Every rummage makes it messier. It is not a question of discipline but of a missing boundary.
Divide the drawer
Use inserts, small boxes or simply cardboard cut to size. One compartment for socks, one for underwear and one for the third thing. The boundary keeps things where they are. See bamboo underwear for men.
Fold upright
Everything stands side by side and is visible. You can take one piece out without disturbing the others, and that is what makes the order hold. See bamboo socks for men and bamboo briefs for women.
Frequently asked questions
Do you have to buy special inserts
No. Shoe boxes or cardboard cut to size do the same job.
How many categories per drawer
Two or three. More than that becomes mess again.
What if the drawer is too small
Then there is too much in it. Sort rather than pressing more in.