When I was in college, I became friends with the nude model in my art class. I visited her and her boyfriend's house and they did not use towels in their home or in their travels. I, on the other hand, would bring a towel regardless. Now that I'm more mature (age-wise), I wouldn't be caught without one... Think about it; have you ever come home from work after a long day, slipped off those tidy whites and become surprised... where the heck did that come from? Well, I don't want to embarrased -- take a towel. (smile)
(Edited) -- have a guest towel available for unexpected guests.
Towels are mandatory for good hygiene and good nudist etiquette. Always take one wherever you go at minimum as a courtesy and sign of respect for your host. Have nice fresh towels available for guests you have to your home as well.
At home I have a towel or sarong draped over the easy chair I use the most. I dont bother for the dining room chair or other furniture usually. When I am a guest I use a sarong or towel on all the host's furniture unless I know that their custom is not to (sometimes they have furniture covers, for example). But it is a good habit to use one re sweat, body oil, etc ehen a guest, I think.
As you say in public venues a towel, wrap or other cloth is the etiquette for hygiene. When at home I don't use a towel and have had no mishaps. I do provide towels for nudist visitors (and then use one myself) so they need have no concerns. When visiting other nudists they usually provide a towel to sit on. Otherwise I use the Tee shirt I've just taken off. BTW it is only nudist who sit on towels. When in a hotel have you wondered if a textile has sat naked on the furniture the night before.
I sit basically in one spot at home and it is draped with a covering for body oil and such. Most of our friends know exactly where the towels are and help themselves. We also don't expect them to bring towels. We go through a lot of towels with the hot tub and it's just another day it's no biggie.