I like thick plush towels. I have rotation of 4 sets: Grey Cobra 530s, MFT 600 gsm green, AG's / MFT's blue/grey 700 gsm waterless wash towel, and Chinchillas. The green MFT towels are my favorite.
Since you don't want to go back into the bucket, I like high gsm towels because they hold a lot of liquid. I find 7 of these towels will suck up almost exactly 2 gallons of water. I never go back into the bucket once I remove a towel. Since I only use 2 gallons, I always use DI water right out of the plastic jug - costs $2.
I also find the plush thick towels don't mar the paint. This is just my preference, but I think you should use the thickest plushest towels you can afford. I always foam and pressure rinse the vehicle and spray the panel(s) down with waterless wash before touching them. I've been doing it this way for a while with zero scratches or marring.
There are faster ways to do it, but I'm looking for excellent results, not a fast car wash. Some may feel there is no point in doing a rinseless wash if you rinse the car down first. So, whatever works for you.