Riddonkulous

I live in pairs but lose my twin, A lonely life I often spin. In drawers I hide, in shoes I stay, I travel miles but never stray. I hug your foot from heel to toe, Through heat or cold, through fast or slow. I catch the sweat, I fight the chill, A silent helper, calm and still. In washing drums I twist and turn, Yet one goes missing, a lesson to learn. A mystery tale in every home, Where vanished partners love to roam. I come in stripes, in dots, in plain, In fluffy warmth or sporty strain. Pulled on quick at break of day, Then kicked off tired and tossed away. No voice have I, no eyes to see, Yet life feels better because of me. So tell me now, be quick, be slick, What am I, soft and snug and quick?