No, we don't have a system. Well, some buckets which doesn't count.

Right now I don't reuse much greywater. Too busy with all the little ones at this stage. Just collecting info like the rest of y'all.

That book is really great and addresses some of the concerns like what the greywater can do to your soil ph. Also methods for avoiding sanitation problems - like greywater from washing diapers.
I have used the rinse water from laundry on the garden. Bath water too. If your washer is close to a door or low window you can use a longer than normal drain hose and catch it in buckets. Just keep the hose in the normal drain pipe in case you get distracted and miss the cycle.

If you really want something great for your garden set up a perforated barrel with a basin beneath. Fill the barrel with a "cool" manure or compost + greywater poured through = compost tea.