Of course i Have brought two or three towels home with me over the years. I thought it was a "who haven't" type of thing. Every time it has been for practical purpose.
I didn't think it was so serious so next time I definitely gonna ask the staff first.
I also have a drawer with some free stuff. Shampoo, sewing kit, airline toothbrush with paste, etc. Always good to have when you forget to by it yourself.