First: Do not mention what he’s doing wrong, without also (or only) telling him what he’s doing right
Take a different attitude toward your husband. The next time that little “drive you nuts” thing happens, figuratively or literally turn your head away from it, and look for something good that your man has done. Do not mention your frustration over the wrinkled clothes until after you’ve given him a big hug and a smile for the laundry. Then, the next day, say “Hey honey, I’m so glad you do the laundry! I know you might not have time to fold it, but it would make so much difference to me if you would pull everything out of the basket and lay the shirts and pants out on the bed so they won’t get wrinkled.”
He might not have thought about the fact that even when he’s stretched for time, another 30 seconds to fluff out the clothes that way would matter to you. Once he does know it – he will want to do it! Unless he feels you’re critical instead of thankful. Which leads us to secret #2….