Here's what I did in that situation: Stop turning the socks right side out (even if it drive you bonkers). Once they get their socks returned wrong side out and have to do it themselves when in a hurry to leave the house (along with them still being a bit grungy) they should start doing it before they toss them in the hamper and even if they don't it's no longer your problem.
Ahh, but mine can stymie that one--they leave the socks all balled up in the laundry. And socks can go through the washer and dryer in a ball and come out with the dirt still inside! Arrrgh!
