Hi Dale - we also needed more or better towel racks. Our Monaco came with round towel rings, which don't allow the towel to air dry. It also had a white wire rack over the door, which looked cheap compared with the rest of the bathroom. We tried the 3M hooks on the wall, and they pulled off the vinyl wall paper, so we went ahead and installed short towel bars (18") in a brushed nickel finish on one wall and also on the bathroom door. They make the bathroom look much more "finished" and it's certainly more useable than before.
You say you're afraid to drill, but that's what I did. I found "molly bolts" (I think that's what they're called) designed for shallow, thin walls, as our walls are very thin but very hard masonite. I used a stud finder to see if there were any electric or pipes in the wall (much as you can tell), then drilled in just the first layer. The bars have held for three years now so I guess it's a sturdy job. I admit that when I drilled into the door, I accidentally went out the other side on my first hole - the door is a thin wood with molding on the surface and I thought I was drilling into a solid wood cross bar and missed. You can't really notice the little hole but I see it every time as a reminder of my poor DIY skills!
Overall, we're glad we added the towel bars and think it makes the bathroom nicer and more "homelike."