I like my sheets to match my quilt/comforter/room. They don't have to exactly match, but something complimentary at least. I only have one quilt that is on the bed all the time, but 3 sets of sheets. One is gold and doesn't truly match any of the colors in the quilt, but oh well. Not a big deal to me.
The kitchen towels? Hmmm... I used to match them. But anymore I just use whatever, because they are USED, not just for decoration.
In the bathroom, yes, I like to have a set of towels that coordinate and compliment the rest of the bathroom. These are the towels that I put out when we have guests (in the guest bathroom). I also have sets of towels that match for our bathroom, and for the kids' bathroom. But they aren't the ONLY towels we have or use.
Our bathroom is rather neutral, so I have several sets of towels... some lavendar, some pale sea foam, some brown, some cream. Any of them look fine. We also have a few odd towels from way back that we use. Who cares if they don't match, nobody sees them except us.
Kids' bathroom has sets of towels that coordinate with the wall/shower curtain. But also lots of everyday non-matching towels as well. They match with each other, but not necessarily the bathroom. My son uses towels like crazy, and I promise, at 14, he could not care less if they match anything. Same with daughter. They are for utility, not coordinating colors.
Do all of them match each other? Of course not. That would be plain ridiculous.
If someone gave me an odd color of towels, they would be used, but not put out for display or hung out for guests. I can't remember the last time anyone gifted me wth bed linens.... oh wait. Yes I can. My parents gave us a set of cream colored sheets. We put them on the guest bed for my parents. They are 50/50 blend sheets and I prefer the all cotton ones we already have thank you. I figure my parents must like them, since they have a set just like them at home, so I put them on the bed they use when they are here visiting.
I find sheets an odd gift anyway, unless you registered for some for your wedding and got them as a wedding gift. Otherwise.... kinda strange. And who gifts you with orange sheets?? That is just strange.