Do you have a towel to tattered for the Salvation Army? To grungy for Goodwill?
Take those used items to a nearby animal shelter where cats, dogs, rabbits and ferrets can use them as bedding. It will save landfill space and help keep the critters comfy.
Often, shelters struggle from reduced budgets and lower donations during financial hard times. Donating these items will free up their funds for other items. There isn't a dog around that would complain about a little drool on their blanket.