All perfect praise be to Allaah, The Lord of the Worlds. I testify that there is none worthy of worship except Allaah, and that Muhammad, sallallaahu ‘alayhi wa sallam, is His Slave and Messenger.
Employing housemaids involves many dangers, so it is not permissible to hire a housemaid except in cases of dire need. The limits set by sharee’ah must be observed when dealing with them. For further information see Fatwa 92230.
If your mother really needs this maid, there is no harm in that and it is permissible for the maid to wash your clothes, including those in which you had wet dreams. However, you have to remove the traces of semen yourself lest she sees them and gets sexually aroused.
Moreover, it is permissible for you to talk with her to the extent needed and within the limits of politeness. You should lower your gaze from her, and you are not allowed to be in seclusion with her or stand with her in a manner that arouses suspicion. For further benefit see Fatwa 91455.
Finally, we advise you to marry as soon as possible and try to live in an independent house in order to avoid the means of temptation.
Allaah Knows best.