Soft neutrals become richer when they are close, but not identical. Instead of matching shades exactly, build a family of color and let texture create separation.
Start warm or cool
Warm ivory, camel and chocolate naturally sit together. Cooler taupe, stone and soft gray do the same. Blush can bridge both.
Change the texture
A ribbed knit against satin, linen against smooth tailoring, or denim against a soft blouse keeps a tonal outfit from looking flat.
Use the darkest shade as punctuation
A chocolate shoe, belt or layer can anchor a pale outfit without the contrast of black.
Let denim count as a neutral
Blue denim works beautifully with ivory, blush, camel and brown. It is often the easiest way to make a soft palette feel less precious.