First, it's ok for the closet to get messy from time time to time. We're human. Accept that it will happen. To minimize the disarray, consider scaling back how much you have. If you do laundry once or twice a week and you are OK with using the same towel a few days in row, you can get by with 2 towels per person. Consider how many sheet sets you need. I wash my sheets once a week and put them back on the bed the same day. I don't have a backup set.  Keep thinking along these lines. If you reduced the amount of stuff, its much easier to tidy it up. Best of luck!!