Hello I'm Neal and I am here to help resolve your issue. If I cannot help I will opt out and refer your question to another expert.
You will need to clear the codes with a code reader, and then as long as you got all of the towel out and did not physically damage anything, it should be fine. Worse case scenario you will need to have a professional quality scanner to reset it. But there should be no actual physical damage just from the towel blocking the intake.
Let me know how it goes and I will continue to assist if needed.
Thanks, XXXXX XXXXX that done and get back to you. That makes me feel a little better at least.