Why are my clothes crispy/hard after hanging them to dry?

There is no breeze (agitation) on the material, it will set in its condensed wet form. Wet clothes hung out on a windy day will be light and fluffy. Bras are made of plastic, the others have cotton or other natural fibre which contracts when wet and relaxed.

There is an easy fix for this.

Place them in the dryer for about 3 to 5 minutes on medium heat. When you take them out they will be soft and because you only had them in for a couple of minutes, it won't damage the clothes and no danger of shrinking because they're already dry.

I do this with some of my pants, I think it's just the way the material sets when drying on a hanger and as for the bras, they are a much thinner material and have quite a bit of elastic so they don't tend to get hard.

You are probably using far too much detergent, when the washing machine pumps the water out on the final spin it should not be soapy if it is you are using too much detergent do not take a lot of notice of the manufacturers recommended dosages these only serve to make people buy more detergent try a load using half what you would normally use & work out how much you need from there