The dynamics of this relationship mean you are classed at a lower level to him in his eyes.
You do his bidding because you agree you are subservient.
If you don't like this imbalance then you rectify it.
Let him do his own laundry, cooking etc. Let what he says wash over you.
Compile a list which you want his help with.
Your dc need to see equality in the power balance between hushband wife and if you are not providing this you are doing irrepairable damage.
Your dc look up to you and your dh as role models in their lives so make sure you and your dh behave as you wish your dds and your ds to behave with their partners.
If your balance isn't right then make steps to improve it. No one respects a doormat.
Do not be responsible for your dh's things! He is an adult! Tell him to stop behaving like an immature toddler!
Always talk calmly to him and don't be drawn into histrionics. Shake your head, look pityingly at him and whisper he isn't being a very good role model to young dc if he can't organise himself.
Laugh at him and don't get upset by him as then you will diffuse any situation. An angry man is very intimidating to have in the house so he has to learn to behave in a respectful, mature way.
It's a shame he didn't learn this growing up.
My dh never asks me to look for his things and he would never treat me in such a disrespectful way.
Time to calmly and firmly change the dynamics to improve your family life op, for all your sakes.