Laundry in a cupboard is do-able but I would definitely go a separate washing machine and dryer.
Absolute pain not being able to put on a second load whilst things are going through the dryer.
We still had a laundry sink and small cupboard underneath the sink where we stored cleaning products. I think there was room for an ironing board, broom and vacuum cleaner as well if I remember correctly.
Have no idea what your budget is - but have a look on Pinterest as well to get some ideas and visuals of what other people have done.