Same here. People who iron can tell if you haven't folded or ironed, and we judge you for it.
Folding and ironing makes clothes more compact and easier to store as well as making them look neater. If skipping those steps made little difference there wouldn't be such an emphasis on them in the first place!
Many things we do in life make no lasting difference to our or anyone else quality of life. they are just done because of custom. It really is ok not to fold or iron if there will be no real consequence to those actions.
That said I always fold everything because being able to see everything and get any item easily pleases me. I very rarely buy clothes that need ironing because ironing does not give me any satisfaction. I am quite capable of it should the need arise.
I recently read a tip for saving your sanity during those busy newborn months.....it's alright to just lightly iron your sheets...... Oh my.