My favorite charities are CCA and the Pregnancy Advocacy Center. Both are so very happy to get donated items. I brought maternity clothes, baby clothes and toys to the PAC and they were so grateful.
CCA does have a truck which can be scheduled for pick-up, but I'm not sure PAC does, they have an office in Lewisville.
If there are nicer things with small stains for adult clothes, you may try a local community theatre looking for some things for upcoming shows.
I just heard about www.zwaggle.com from flylady.net. A trading place for gently used things..may be something for you.
Also, your local animal shelters take old towels and blankets if you have any of those.