I don't really iron either, my colleague does her own, her DH's, her (adult) DD's, her DM's and her DMiL's. She does the bedsheets, underwear and all- fuck that!
Anything that's tumbledried needs to be taken out when still warm and hung or folded. Anything else can be hung to dry- I have a heated airer and it's good but not the miracle worker others say it is. Just hang it carefully. And don't buy shirts! All my work tops pre-pregnancy were similar to these which require no ironing. Some stuff is unavoidable and needs done but we maybe do an ironing session of a few bits every other month.
I would love a cleaner and am seriously thinking of getting one in temporarily for the first few weeks post baby.