We wash towels as the hamper for towels gets full. I think you should wash them separately from other clothes though. They leave fluff on the clothes they're washed with.
Sheets and other big items. Clothes and other smaller items get in the folds and then they don't agitate and get clean. They ball up and get wrapped tightly.
I wash mattress pads first, hot water, detergent, bleach, and some fabric softener. They go in the dryer and sheets start. I wash them pretty much the same as the other load because I was them sanitized and even if they're black microfiber sheets I add about 1/4 cup of Clorox Bleach.
HOW I DO BLEACH
If it's a top loader washer I start the water, add the powder detergent, add about 1/2 cup of liquid Clorox Bleach. Then I let the load continue filling. When it starts agitating I'll add the clothes/sheets/dark stuff to the agitating water.
This keeps the items from having bleach spots on them.
To a front loader with a drawer for added items. I put the detergent in the space. Then I put the fabric softener in it's spot. I put the bleach into it's space and add a little water to it to keep it from being so strong when it goes down into the wash load.
I put some amount of bleach in almost every single load I wash. Darks, whites, colors, etc. If it's costly leos I don't add bleach to that.
I figure if I'm pulling sheets and other bedding off the beds it needs to be done first thing in the morning so I have time to get them completely done before bedtime, in case I forget them...lol.
I also wonder about your question pertaining to the towels. Are you saying they use the same towels all week? And rehang them to dry? We do that but we don't go for a week. Usually a few days and we get clean towels. Even when you're clean the action of the towel rubbing across your skin removes dead skin cells and bacteria so using them repeatedly for days and days isn't very sanitary.
If we shower/bathe every day we would have 2 towels for me, 2 towels for my daughter, 1 for boy kiddo, and 1 for hubby. That's nearly a whole load. If I wait 2 days and everyone showers each day then that's 12 towels of various sizes. Our hair towels are thinner regular bath towels but my body towel is 72" long. My granddaughter's and my grandson's towels are 64" long. Hubby has towels of both lengths. So they're not small bath towels they are beach style towels.
If everyone used a clean towel each time I'd probably do a load of towels every other day regardless of other laundry.
I wash then put back on. I think it's silly to pull sheets and stuff then remake the bed. Then wash and dry and fold then put up the clean ones. I'd rather save time and effort.
I'd also have a shelf in the bathroom where extra towels can be stored. Then when they use a towel for a few days they can drop the used towel into the main hamper so I can wash them when it's full.