I had used a handmade wooden clothes airer (※1) long time ago. However I found that a radiator drying rack (※2) was very useful for camping. This is compact, and also I can use it outside caravan window sell and inside a caravan.

Please find it with adjustable arms. You can use it wherever you want.

You can buy a radiator drying rack on Amazon and eBay. If you are living in UK, you may find this in B&M.