I'm sorry if this is something which you've already tried, but there is the theory (which I agree with) that a lot of this sort of behaviour is about control - namely, that toddlers often feel they don't have any and try to get it by "force" ie throwing tantrums.
One way of trying to deal with this is to actually give your toddler more control and responsibility.
So, you could get him to help get himself dressed in the morning, certainly get him to choose which socks / jumper etc he wants to wear, get it out of the cupboard himself etc. And lots of praise when he does it (even if he chooses something bizarre).
And with the washing machine scenario, you could perhaps turn it around and say "excellent, you're going to help me with the washing!" and let him load not just the towel, but everything else into the machine too, then get him to press the right buttons to switch it on etc etc. Again, LOTS of praise when he does it right, and as little negative reaction as possible if he does it wrong ie pulls out all the stuff (sometimes negative attention is more "fun" than doing it right!).
I think you see what I mean. I read an excellent article on this a while ago, which listed loads of great examples (the washing machine was actually one of them, iirc). I'll try and find it, if you like.
HTH, and sorry if you've already tried it!!