I haven't worn tights for years but wouldn't have given a passing thought to ironing them. Once dry I give socks a rub and put flat on a work surface, paired up and turn an inch over at the top and place neatly in the drawer - never had a crunchy sock - do they taste nice :-))
I thought I had answered this already, but seems not.
I do wash socks before wearing or gifting them, but only because I actually KNIT socks myself. Just to make sure there is no residual dye left in them.