I would say your Dr isn't familiar with carriers.
As for washing...we changed our system thanks to another hubber and it works so well for us at the end of the day! So basically each person has a washing 'day.' So oldest child has clothes washed on a Sunday, Mine on a Mon etc. We have a towels day and a sheets day...what it means is that at the end of the day it takes 5 minutes to fold and put away because you don't have to sort through clothes and then put away in all the different rooms. Dh and I wash our clothes together twice a week cause our clothes don't stretch for a full week...but it still works really well.