I have two hand towels for the guest/half baths where the sink is the only thing used on a regular basis. I do laundry on Monday and Thursday, so I grab the towel being used and hang the second towel up. Typically on both laundry days, but at a minimum always on Monday (my bigger wash day). I store the extra towel in the vanity for the bathroom.
DH and I shower at least once a day but do use the same bath towel. I was those on the two wash days. Kids get washed once a week on Monday.
I wash and put away all the laundry on the same day. So I don't collect it until it's being washed.
I produce crazy amounts of laundry in the kitchen. We use cloth napkins and lots of towels. Those get thrown straight in the washing machine as we use them so I know that's always my first load to add to on the twice per week laundry days.