Welcome to HP!
This has been discussed at length on other threads - just put 'towels' into the Search box (in the green shaded heading above) and you will be inundated with suggestions and ideas.
I do home visits alot, and lug my couch, two couch covers (a padded one and a towelling one), 2 flannel cot sheets (with a change in the car for the next client) and a fluffy overblanket. I get the client to supply pillows. I also have to carry bandages and other stuff involved with their various conditions! I try not to do more than 3 home visits in a day!