The washer and dryer in my first house were facing each across the tiny hall/doorway from my kitchen to the garage, fully visible with no door to close the space from the kitchen. I never considered it a problem for the 12-1/2 years I lived there.
My current house has a separate laundry room beside/behind the kitchen. There's a direct view into the laundry room when entering from the back door/patio. I've never closed the door on it for the entire 17-1/2 years.
Q