Can a person get herpes if they touch a towel that a infected person with an outbreak just clean affected area with?

Herpes. I think you may be misinformed. First, the answer is no. That would be an unlikely source of infection. Second, having a sore does not in any way predict contagiousness or viral shedding. In fact we now know that there is zero correlation between outbreaks and the level of virus in the skin or sore.