Hi Leah! Hope summer is going well for you!
I typically don’t wear padded bras, and wash them in a bra mesh laundry bag. The bra “bag” has some plastic reinforcement so it stays in a cylinder shape. The bra laundry bag came with a set of other mesh laundry bags — on Amazon for <$10 as I recall. I use the other mesh bags for lingerie on delicate mode in our washer.
Hand washing probably does a better job, but I like the convenience of the laundry bags and haven’t experienced any damage to my garments using them.