Now I know that this is a "they must be living in my house" moment. If you don't have a struggle with your teen and laundry then whatever you are doing, bottle it, sell it, and you will make millions of dollars.
The only time your teen cares about their laundry, is when whatever it is they want to wear has not appeared magically clean, folded and ready to go. Besides that, the pile on the floor or in the basket can reach epic proportions as long as there is enough clean underwear, and jeans. Socks were made for multiple wearings, so no issue if they are all dirty!
So what is a parent to do?
A. Just do it yourself, and save yourself the arguing, but on your timeline
B. Wash and dry their clothes, but no folding requiring, return the basket full of unfolded clean clothes. Teens hate wrinkled clothes, so either they will fold their own clothes cause they don't want them wrinkled or they won't. WTFC (who the f** cares)
C. Do like Jeremy's mother, NYP (not your problem)
Whichever one you choose, don't get yourself all worked up into a tizzy about it. You are in control of what and how much you want to do. Once you make that decision, there is nothing to fight about. DWYGD (Do what you gotta do!) After all it's just laundry!