This is how my dead husband folded linens.
First, a towel, because it is easier to do alone, and because I still know what to do, even though he is not here. There is no gap in my knowledge about folding towels the proper way, only lapses of will and the urgency of daily life.
I often no longer do it. Here is a diagram of what I should do.
Fold horizontally, once. I often do the fold in mid-air, with a brave flourish, but then I have to lay it flat for the rest. It is the rest of this that matters, not that first impetuous sweep of linen through the air. After that bold start, what matters most is painstakingly matching the corners for this fold and the next. Do it again and again till just right.
Fold horizontally a second time. Again, be ridiculous about the corners. No. Not that way. Do it again.
Fold the towel into neat, even threes. It will feel just a bit like rolling, with a gentle smoothing motion to reassure your towel it is home. The result will be a towel burrito with reassuringly neat ends. This towel will display well on shelves, stack evenly in cabinets, and retain its architectural integrity when handed to a guest.