Going back in history to all the things OP says, it was lack of space, poor sanitation, poor nutrition to name a few of the problems that led to the disease, infestations and smells.
If you cannot afford the fuel to heat the water, to wash yourself never mind the laundry then how could you focus on laundry. Natural fibres such as wool take longer to dry and absorb a lot of water so without a change of clothing, which many didn't have, laundry was difficult.
We are very fortunate to live now but we don't need the vast amount of clothing we currently buy, cheap fabrics, cheap quick seasonal trends (I'm not always talking cheap to buy) cheap throw away items.
I'm with a few of you in that I change underwear daily except my bra, I wear different ones but usually wash after a few wears. Woollies, jeans, skirts, dresses and maybe blouses are washed if they need it. I'm clean, I shower or bathe daily so they don't require more than that, I don't have a demanding job and I don't get too dirty. ... mostly anyway 