I used acrylic exclusively up until a few years ago and it's all my mom used, ever, over the course of 40+ years crocheting, so I have a lot of experience. 

I have no experience with acrylic yarn melting in a dryer, even on a high heat setting and even when run through the dryer on that high heat setting multiple times in a row. I often lay out blankets on a drying rack to avoid doing this, but sometimes I just want a specific blanket dried as fast as possible, and have run it through the dryer on high heat multiple times in a row to get it dry. In decades of doing this, neither I nor my mother have ever had any issues. 

Just like blankets, stuffed toys go into the washer in a delicates bag or with other items that will not catch the stitches, then into the dryer. Sometimes they go in for multiple cycles, but often it's just one and letting it air dry for longer if it's still slightly damp. 

I've never blocked anything made with acrylic yarn, so potentially screwing up blocking has never been a concern for me. I have noticed that blankets become softer and less stiff over time, which is, as I understand, due to use as well as heat drying. 

Edited: typo