I am not sure if I have OCD, but I have similar. To me, the things my parents touch are dirty, and anything that animal products touch is dirty. To help, we have big, thick oven gloves (with fingers, not just a mitt), one in the kitchen and one in the living room, so I can use things like the kettle, light switch and door handle.
As for clothes, mine is not as serious as yours but for example I have to walk past my dad's sweaty gym shorts and towel to get to my clean clothes. So if something falls on them, it has to be washed, along with anything else that the dirty item touched. (Oh my gosh, the frustration when a friend visited and moved the gym shorts onto the pile of my clean clothes!)
So as for solutions... Oven gloves and antibacterial soap is all I have found. I hope that can help in some way.
Just a thought, may be silly, but might there be some sort of spray that is meant to clean, that you could spray on the dirty part of your clothes to save having to change them?
Don't say I'm out of touch,
With this rampant chaos your reality.
I know well what lies beyond my sleeping refuge,
The nightmare I built my own world to escape.