Actually, folding clothes is a challenging dexterity task. However, it's a trivial mechanical engineering task, which is why it is so popular with underpowered robot arms.
How are you defining dextrous? I think it can be somewhat challenging but not dextrous -- the robot doesn't need to be very precise (few cms here and there do not matter), there are no forces involved, motions are all pick-place. Dextrous tasks would be things like shoe-lace tying, origami folding etc.
