Not sure what you mean by “waaaay” to big. Are you referring to the thickness of the Escape door being too thin for the “over the door” part of the towel rack to fit tight enough not to be “sloppy?” Or do you mean too wide?
If you mean too sloppy, find the rack yo want and figure out a way to add a “spacer” to its “hooks.” If you use wood to do so, stain and finish to best match the door.
If you mean too wide, get a rack intended for a cabinet door rather than a room passage door. Amazon sells several.
There are cross members in the bathroom door to which hooks or racks can be attached with screws. Far more secure than hang-overs (not the alcoholic type!).
We prefer not to hang wet towels in contact with the door. As a result, we use large command hooks on the bathroom wall behind and on either side of the toilet. Due to its relatively cramped quarters and its limited hot water availability, we typically use campground showers if available. If using the inside shower, we simply move the dry (or damp from previous use) to the counter across from the bathroom door. The bathroom configuration in the 21 would not be conducive to this. If I were trying to keep an already damp towel “dry,” in a 21 while showering, I would perhaps lay it on top of a plastic garbage bag spread out on the bed for that purpose.
In my experience, vacuum hooks and bins may stay in place for a while, but sooner or later you will find they have fallen off the wall. YMMV.
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What a long strange trip it’s been!
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