Yes. It does help.

Imagine, the outward facing surfaces are the ones you want to preserve and look pretty, doesn’t matter if the inside ones get a bit roughed up. Those garments rub against each other for hours (giggity), every week for years. Inside out better.

Also, for stuff with zippers or metal details, keeping them on the inside lessens their exposure to other fabric so they take less of a beating.

Inside out = yes.