I'm a little puzzled by this, "...if I put all the underwear together, I have to get out every packing cube at each new hotel to put together an outfit." Are you doing carry-on? How many cubes are we talking about here?
I use a 22" soft-sided (except for the wheels and back with the handle) Lipault spinner. Thank you for asking this question. It urged me to actually measure the inside capacity of that spinner. It is 20x14x9. That's right at 2500 cu in.
I have packing cubes in a variety of sizes: Large 14x10x3 (420 cu in), Half 10x7x3 (210 cu in), Quarter 7.5x4.5x2.5 (85 cu in) and Tube 13x4x3 (155 cu in). Note to anyone buying cubes or any luggage: Do the math yourself. Some of the capacities are way off what may be listed online.
I typically use 2 large cubes for most of my clothing. One gets tops, including tanks and sleepwear, folded. I've tried rolling my tops and they seem to take up more room and end up more wrinkled than if I fold them. The other one gets bottoms, a vest and/or cardigan, socks, scarves or anything else there is room for in it. I usually pack a half-cube with my panties (rolled). Bras and shapewear also go in that one, any way they will fit.
Have you been keeping up with the math? That means I have used up a total of 1050 cu in of my spinner's capacity. The rest of the stuff I pack in it also goes in whatever cubes it will fit in and that will fit in the spinner. That may vary because the cubes are soft-sided and their shapes may be contorted a bit due to what's in them, which often is not soft-sided.
My 2nd pair of shoes goes in a plastic grocery bag or two, depending on space available. There are one each zipper pockets in the top flap and the long side of the bag. They are often empty or at worst have some pieces of paper in them. There is an outside zipper pocket in the top of the bag, too, but I only use it for the "leash" I sometimes use to attach the bag to me.
The result is that I can see everything in the bag when I open it, and there are really only 2-3 cubes I need access to for the night and the next morning. If I want to take them out, it uses all of about 10 seconds to do so. If it's a one-nighter, I will hang up whatever I'm going to wear the next day. If we will be there for 2 nights or more, I remove the cubes from the bag, hang up what I need to and put what's left in a drawer or on a shelf, still in the cube.
It never occurred to me to pack outfits together since I pack for a week and a day and everything goes with everything else (Vivienne Files style only with fewer and much less expensive pieces). That extra day is in transit or the day we deal with laundry. Our trips have all been 4+ weeks.
I have been considering compression packing cubes. They might help with the volume, if not the weight, if I go to a smaller 19x13x6 2-wheeled bag. The capacity of that bag is probably close to the exterior measurements, i.e. about 1500 cu in. Secretly I was hoping that the new IATA bag size would generate new bags at about 2000 cu in, but I guess that won't happen now.