Normally I wouldn't give him any with the towels still on, but I needed to get him out of another tube (a much larger one that is like 4 feet long and a circumference like 3-4x his size) so I used it to lead him out because I didn't have anything else. It was very foolish of me and it is a mistake I will never make again.
I have spoken to a few vets over the phone and they agree with the monitoring advice.
I did handle him yesterday and he seemed normal and hasn't shown any signs that he is in pain. I just fed him last week so I won't be feeding him for at least another week or two. There are no marks or signs of bruising or internal bleeding from the outside of his body. I felt along his body and he didn't hiss or ball up at all. He also did his usual 2-4am journey of knocking his sticks and fake plants over, so his behavior seems normal so far. If anything happens I'll update though.