The folding method I do in the video works for most styles of underwear (panties, boyshort styles, men's briefs and boxer briefs), except for things like thongs and g-strings. Those are like trying to fold a headband, and it's just silly and not worth it. I am a fan of internal drawer dividers/organizers though, and thongs get their own little party box where they get to all hang out together, but without getting all tangled up in other things. You can make your own just using a small box that fits in your drawer.
As for bras, here is how I store them:
So get folding!