Seems like a lot of work and washing! Plus I wonder how well stains will come out. I personally wouldn't use Velcro in an enclosure because it's too similar to tape and I fear someone would get hurt.
Buuuut you could always cut a towel or cloth into small squares, maybe like 6x6" ? And spread those around the enclosure. Like a bunch of them, so it's substrate, but you only have to remove a few squares at a time to wash them. Plus they could dig into it if they want! I'd probably use a terry towel without much dye if possible, cotton would also work but it wouldn't be as absorbent. Terry would probably help hold humidity better.
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