Dwarves should tend to take owned clothes back to their bedrooms.
For cleaning up un-owned clothes, I recommend using a setup something like this:
(https://i.ibb.co/Q9cgpXm/waste-clothing-pipeline.png)
The low and high quality stockpiles can be combined together into a single all-quality stockpile if you don't want to waste newly produced clothing. I still see the odd sock lying around, but they usually get cleared up pretty quickly.